/SLAM-Hive/slam_hive_results/mapping_results/3181/2386_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720555844.161582323]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720555844.163867283]: init begins[0m
[31m[ERROR] [1720555844.165023773]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/529c57d8-3e2f-11ef-8680-0242ac110005/roslaunch-2e6a6408ab51-118.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://2e6a6408ab51:44675/[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] [1720555845.271372331]: 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] [1720555845.276292090]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720555845.276458184]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720555845.276498564]: 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] [1720555845.276716611]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720555845.276900331]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720555845.277058064]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://2e6a6408ab51:11311/[0m
]2;roscore http://2e6a6408ab51:11311/
[1msetting /run_id to 529c57d8-3e2f-11ef-8680-0242ac110005[0m
[0m[ INFO] [1720555845.317216888]: Connected to master at [localhost:11311][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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720555854.304538434]: 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: 316918723.97 
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] [1720555858.871098799]: gyroscope bias initial calibration 0.00249969  0.0289452  0.0821866[0m
[0m[ INFO] [1720555858.919440861]: Initialization finish![0m
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time: 1403637135.538319, t: -0.037451 -0.038278 0.236580 q: -0.023840 0.827254 0.038072 0.560030 
time: 1403637135.938319, t: -0.040229 -0.025755 0.461155 q: -0.023503 0.793889 0.021839 0.607215 
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time: 1403637247.938319, t: 0.698722 -6.543590 -0.257119 q: 0.225067 0.756940 -0.225203 0.570675 
time: 1403637248.338319, t: 1.006494 -6.168400 -0.321289 q: 0.165104 0.787707 -0.195507 0.560388 
time: 1403637248.738319, t: 1.303633 -5.725599 -0.411758 q: 0.161238 0.786315 -0.190003 0.565341 
time: 1403637249.138319, t: 1.572830 -5.234411 -0.381398 q: 0.164651 0.791105 -0.205332 0.552161 
time: 1403637249.538319, t: 1.862389 -4.729665 -0.298733 q: 0.166966 0.788051 -0.211495 0.553505 
time: 1403637249.938319, t: 2.090378 -4.192631 -0.350285 q: 0.160772 0.780370 -0.197329 0.571172 
time: 1403637250.338319, t: 2.303735 -3.599153 -0.352345 q: 0.103243 0.795000 -0.177684 0.570741 
time: 1403637250.738319, t: 2.445838 -3.081865 -0.384754 q: 0.076088 0.804686 -0.167656 0.564431 
time: 1403637251.138319, t: 2.559849 -2.668617 -0.322786 q: 0.060559 0.806482 -0.160483 0.565831 
time: 1403637251.538319, t: 2.651554 -2.351411 -0.158862 q: 0.051556 0.807741 -0.118452 0.575209 
time: 1403637251.938319, t: 2.718785 -2.161441 -0.029655 q: 0.037838 0.806188 -0.078237 0.585243 
time: 1403637252.338319, t: 2.735835 -2.032698 0.027948 q: 0.036881 0.797183 -0.069389 0.598602 
time: 1403637252.738319, t: 2.690306 -1.893319 -0.039299 q: 0.024350 0.815159 -0.080975 0.573032 
time: 1403637253.138319, t: 2.614824 -1.822930 -0.050255 q: 0.038396 0.810419 -0.074736 0.579794 
time: 1403637253.538319, t: 2.532857 -1.788519 -0.058952 q: 0.040398 0.809097 -0.076620 0.581256 
time: 1403637253.938319, t: 2.427082 -1.763989 -0.059899 q: 0.051385 0.807030 -0.069751 0.584121 
time: 1403637254.338319, t: 2.290409 -1.714888 0.030463 q: 0.043537 0.811759 -0.050781 0.580149 
time: 1403637254.738319, t: 2.130357 -1.641162 0.117598 q: 0.029639 0.815552 -0.030312 0.577129 
time: 1403637255.138319, t: 1.975119 -1.548143 0.122391 q: 0.018564 0.808852 -0.024859 0.587193 
time: 1403637255.538319, t: 1.800127 -1.435481 0.141721 q: -0.009102 0.810306 0.009567 0.585858 
time: 1403637255.938319, t: 1.604316 -1.312575 0.143728 q: -0.046242 0.813670 0.079587 0.573993 
time: 1403637256.338319, t: 1.398694 -1.170045 0.218435 q: -0.067241 0.805123 0.113382 0.578273 
time: 1403637256.738319, t: 1.159631 -0.997306 0.212483 q: -0.073403 0.812187 0.103745 0.569386 
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time: 1403637257.538319, t: 0.695195 -0.649174 0.208464 q: -0.085593 0.807176 0.141236 0.566739 
time: 1403637257.938319, t: 0.500480 -0.461681 0.183304 q: -0.102583 0.817517 0.153971 0.545377 
time: 1403637258.338319, t: 0.379782 -0.243672 0.150337 q: -0.140837 0.793724 0.209844 0.553293 
time: 1403637258.738319, t: 0.339719 -0.011143 0.117149 q: -0.169863 0.787891 0.220520 0.549313 
time: 1403637259.138319, t: 0.238377 0.149811 0.071426 q: -0.173743 0.785173 0.215835 0.553834 
time: 1403637259.538319, t: 0.191706 0.252570 0.118079 q: -0.185915 0.786023 0.202004 0.553892 
time: 1403637259.938319, t: 0.138041 0.311989 0.112665 q: -0.178568 0.787693 0.204955 0.552853 
time: 1403637260.338319, t: 0.101533 0.297049 0.061341 q: -0.158376 0.783852 0.220907 0.558294 
time: 1403637260.738319, t: 0.061304 0.257189 -0.011317 q: -0.151307 0.793114 0.227979 0.544152 
time: 1403637261.138319, t: 0.013586 0.282651 -0.093606 q: -0.158444 0.786938 0.225195 0.552188 
time: 1403637261.538319, t: -0.038623 0.323413 -0.140245 q: -0.163859 0.790115 0.221251 0.547645 
time: 1403637261.938319, t: -0.042236 0.384965 -0.128345 q: -0.159921 0.787128 0.222158 0.552721 
time: 1403637262.338319, t: -0.031316 0.438002 -0.176273 q: -0.201780 0.772225 0.187580 0.572509 
time: 1403637262.738319, t: -0.040539 0.419631 -0.187880 q: -0.165278 0.784546 0.169277 0.573163 
wait for imu ... 
time: 1403637263.138319, t: -0.036137 0.423710 -0.192552 q: -0.168821 0.781100 0.168292 0.577114 
time: 1403637263.538319, t: -0.039527 0.418658 -0.180339 q: -0.168886 0.781173 0.168320 0.576987 
time: 1403637263.938319, t: -0.037744 0.419690 -0.183876 q: -0.168694 0.781180 0.168359 0.577022 
time: 1403637264.338319, t: -0.042270 0.416405 -0.183752 q: -0.168743 0.781128 0.168149 0.577140 
time: 1403637264.738319, t: -0.042172 0.416298 -0.184538 q: -0.168681 0.781155 0.167983 0.577170 
time: 1403637265.138319, t: -0.042324 0.417748 -0.184552 q: -0.168500 0.781231 0.167833 0.577164 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720555991.132977950]: Shutdown request received.[0m
[33m[ WARN] [1720555991.133030047]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720555991.133859912]: Shutdown request received.[0m
[33m[ WARN] [1720555991.133911212]: Reason given for shutdown: [user request][0m
killed
