/SLAM-Hive/slam_hive_results/mapping_results/3180/2385_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720555673.172354034]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720555673.173612755]: init begins[0m
[31m[ERROR] [1720555673.174714620]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ecb0f1c2-3e2e-11ef-a181-0242ac110005/roslaunch-ae70680ad367-117.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://ae70680ad367:38259/[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] [1720555674.281065596]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720555674.281762088]: 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] [1720555674.288038859]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720555674.288246696]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720555674.288280580]: 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] [1720555674.288541466]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720555674.288767584]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720555674.288923348]: 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://ae70680ad367:11311/[0m
]2;roscore http://ae70680ad367:11311/
[1msetting /run_id to ecb0f1c2-3e2e-11ef-a181-0242ac110005[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] [1720555683.329506014]: 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: 316918552.99 
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] [1720555687.906110317]: gyroscope bias initial calibration -0.00176717   0.0099208    0.085829[0m
[0m[ INFO] [1720555687.967209822]: Initialization finish![0m
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time: 1403637135.538319, t: -0.046741 -0.021513 0.257076 q: -0.009894 0.831041 0.025887 0.555520 
time: 1403637135.938319, t: -0.015045 -0.035298 0.481963 q: -0.029398 0.795412 0.025432 0.604821 
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time: 1403637261.938319, t: 0.690808 -0.020048 -0.005273 q: -0.140189 0.794802 0.195043 0.557311 
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time: 1403637262.738319, t: 0.698610 0.024984 -0.064924 q: -0.144668 0.790166 0.141677 0.578478 
time: 1403637263.138319, t: 0.696920 0.024480 -0.065504 q: -0.148014 0.786495 0.140331 0.582945 
time: 1403637263.538319, t: 0.697168 0.024458 -0.062987 q: -0.148184 0.786549 0.140068 0.582892 
time: 1403637263.938319, t: 0.695350 0.023331 -0.062444 q: -0.147520 0.786558 0.140020 0.583060 
time: 1403637264.338319, t: 0.694648 0.022250 -0.061786 q: -0.147968 0.786551 0.140023 0.582956 
time: 1403637264.738319, t: 0.693895 0.021711 -0.061337 q: -0.147885 0.786541 0.140000 0.582994 
time: 1403637265.138319, t: 0.693651 0.021664 -0.061089 q: -0.147801 0.786607 0.140057 0.582913 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720555820.038762999]: Shutdown request received.[0m
[33m[ WARN] [1720555820.038812508]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720555820.039714492]: Shutdown request received.[0m
[33m[ WARN] [1720555820.039747106]: Reason given for shutdown: [user request][0m
killed
