/SLAM-Hive/slam_hive_results/mapping_results/3182/2387_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720556015.426918946]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720556015.428934771]: init begins[0m
[31m[ERROR] [1720556015.430041393]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b8b09b74-3e2f-11ef-ae8d-0242ac110005/roslaunch-2765b0f1a9c0-117.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://2765b0f1a9c0:38909/[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
[1mROS_MASTER_URI=http://2765b0f1a9c0:11311/[0m
]2;roscore http://2765b0f1a9c0:11311/
[1msetting /run_id to b8b09b74-3e2f-11ef-ae8d-0242ac110005[0m
[0m[ INFO] [1720556016.582602140]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720556016.585649968]: 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] [1720556016.591791776]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720556016.591993907]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720556016.592017213]: ROW: 96 COL: 150 [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] [1720556016.592251588]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720556016.592457183]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720556016.592649805]: 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 [229][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720556025.591211545]: 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: 316918895.25 
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
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720556030.139729692]: gyroscope bias initial calibration  0.0264135 -0.0355232   0.117242[0m
[0m[ INFO] [1720556030.174451152]: Initialization finish![0m
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time: 1403637135.538319, t: -0.161396 -0.090728 0.086764 q: -0.067911 0.803545 0.081180 0.585759 
time: 1403637135.938319, t: -0.245888 -0.141222 0.250740 q: -0.068087 0.766743 0.060689 0.635441 
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time: 1403637247.138319, t: -129.772716 -40.179061 -18.628608 q: 0.202035 0.781379 -0.226776 0.545161 
time: 1403637247.538319, t: -129.489211 -40.039767 -18.791127 q: 0.190837 0.763387 -0.214518 0.578622 
time: 1403637247.938319, t: -129.031509 -39.764032 -18.835289 q: 0.183913 0.770861 -0.166785 0.586628 
time: 1403637248.338319, t: -128.671624 -39.351898 -18.889919 q: 0.125560 0.799548 -0.135395 0.571512 
time: 1403637248.738319, t: -128.344139 -38.890815 -18.994108 q: 0.121391 0.797611 -0.130528 0.576231 
time: 1403637249.138319, t: -128.023757 -38.349171 -19.002167 q: 0.126307 0.803574 -0.145845 0.563067 
time: 1403637249.538319, t: -127.800743 -37.785758 -18.945664 q: 0.128472 0.800646 -0.152089 0.565093 
time: 1403637249.938319, t: -127.697446 -37.097511 -19.061490 q: 0.120838 0.791479 -0.137279 0.583192 
time: 1403637250.338319, t: -127.501731 -36.444437 -19.110591 q: 0.063472 0.805040 -0.116972 0.578100 
time: 1403637250.738319, t: -127.332459 -35.863832 -19.190157 q: 0.036941 0.814213 -0.107011 0.569422 
time: 1403637251.138319, t: -127.300321 -35.513483 -19.046056 q: 0.020209 0.816171 -0.099140 0.568883 
time: 1403637251.538319, t: -127.323882 -35.217003 -18.941323 q: 0.008481 0.813721 -0.056669 0.578424 
time: 1403637251.938319, t: -127.353624 -35.073478 -18.753144 q: -0.006645 0.808857 -0.016018 0.587749 
time: 1403637252.338319, t: -127.291785 -34.908273 -18.714116 q: -0.008364 0.799068 -0.008333 0.601125 
time: 1403637252.738319, t: -127.555035 -34.916038 -18.743257 q: -0.020733 0.817150 -0.016853 0.575805 
time: 1403637253.138319, t: -127.694816 -34.837245 -18.744861 q: -0.006805 0.812163 -0.011161 0.583284 
time: 1403637253.538319, t: -127.790962 -34.807715 -18.753191 q: -0.005036 0.810995 -0.013136 0.584883 
time: 1403637253.938319, t: -127.908554 -34.794015 -18.753849 q: 0.005652 0.808441 -0.006412 0.588516 
time: 1403637254.338319, t: -128.058166 -34.766682 -18.657168 q: -0.001866 0.811572 0.012856 0.584109 
time: 1403637254.738319, t: -128.236048 -34.708163 -18.570004 q: -0.014666 0.813708 0.032661 0.580170 
time: 1403637255.138319, t: -128.400267 -34.625729 -18.567926 q: -0.025539 0.806524 0.036436 0.589525 
time: 1403637255.538319, t: -128.587186 -34.544204 -18.555982 q: -0.053001 0.805423 0.070417 0.586111 
time: 1403637255.938319, t: -128.807176 -34.457327 -18.566826 q: -0.089172 0.803591 0.141144 0.571287 
time: 1403637256.338319, t: -129.022775 -34.356001 -18.493464 q: -0.110727 0.792537 0.174431 0.573758 
time: 1403637256.738319, t: -129.258163 -34.230241 -18.500208 q: -0.116515 0.800379 0.165411 0.564319 
time: 1403637257.138319, t: -129.493341 -34.092946 -18.552702 q: -0.126702 0.795288 0.176169 0.566063 
time: 1403637257.538319, t: -129.764748 -33.992328 -18.523388 q: -0.129794 0.792298 0.203124 0.560497 
time: 1403637257.938319, t: -129.994104 -33.801114 -18.543463 q: -0.144558 0.801889 0.216677 0.537707 
time: 1403637258.338319, t: -130.162274 -33.603773 -18.564336 q: -0.183461 0.773882 0.271000 0.542225 
time: 1403637258.738319, t: -130.248756 -33.443549 -18.604279 q: -0.213387 0.766684 0.281818 0.535948 
time: 1403637259.138319, t: -130.300202 -33.251021 -18.626473 q: -0.216666 0.765319 0.276268 0.539462 
time: 1403637259.538319, t: -130.289573 -33.131462 -18.587275 q: -0.228108 0.767697 0.262357 0.538309 
time: 1403637259.938319, t: -130.368999 -33.095526 -18.594875 q: -0.221078 0.769060 0.265796 0.537609 
time: 1403637260.338319, t: -130.415144 -33.203119 -18.642545 q: -0.203833 0.763074 0.282128 0.544587 
time: 1403637260.738319, t: -130.468162 -33.122310 -18.730706 q: -0.193926 0.772060 0.288910 0.531834 
time: 1403637261.138319, t: -130.458329 -33.083831 -18.814503 q: -0.201414 0.766055 0.285672 0.539429 
time: 1403637261.538319, t: -130.573732 -33.105368 -18.874088 q: -0.207425 0.768926 0.282081 0.534937 
time: 1403637261.938319, t: -130.579404 -33.042911 -18.858321 q: -0.204037 0.765860 0.282769 0.540248 
time: 1403637262.338319, t: -130.577718 -33.003203 -18.908348 q: -0.247900 0.753457 0.247029 0.556619 
time: 1403637262.738319, t: -130.553280 -32.924320 -18.897722 q: -0.210223 0.768093 0.228215 0.560141 
wait for imu ... 
time: 1403637263.138319, t: -130.572841 -32.931594 -18.908216 q: -0.213956 0.765063 0.226144 0.563702 
time: 1403637263.538319, t: -130.590468 -32.946363 -18.877620 q: -0.213294 0.765532 0.225993 0.563377 
time: 1403637263.938319, t: -130.607521 -32.951825 -18.874687 q: -0.212720 0.765641 0.225896 0.563484 
time: 1403637264.338319, t: -130.605421 -32.948813 -18.877128 q: -0.212436 0.765761 0.225593 0.563551 
time: 1403637264.738319, t: -130.602081 -32.949855 -18.881316 q: -0.212284 0.765808 0.225483 0.563587 
time: 1403637265.138319, t: -130.601053 -32.951368 -18.883310 q: -0.212156 0.765917 0.225468 0.563493 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720556162.339329183]: Shutdown request received.[0m
[33m[ WARN] [1720556162.339392257]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720556162.340255715]: Shutdown request received.[0m
[33m[ WARN] [1720556162.340282044]: Reason given for shutdown: [user request][0m
killed
