/SLAM-Hive/slam_hive_results/mapping_results/3188/2393_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720557044.540096383]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720557044.543875957]: init begins[0m
[31m[ERROR] [1720557044.545259535]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1e1a8964-3e32-11ef-ab6b-0242ac110005/roslaunch-efc424b9764e-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://efc424b9764e:35781/[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] [1720557045.697082084]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720557045.700560364]: 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] [1720557045.706409782]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720557045.706605427]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720557045.706629552]: 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] [1720557045.706864115]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720557045.707073030]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720557045.707233366]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://efc424b9764e:11311/[0m
]2;roscore http://efc424b9764e:11311/
[1msetting /run_id to 1e1a8964-3e32-11ef-ab6b-0242ac110005[0m
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] [1720557054.704307889]: 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: 316919924.36 
init first imu pose
averge acc 9.442349 -0.663823 -2.451513
init R0 
    0.259747     0.252397     0.932109
-6.16298e-33    -0.965239     0.261368
    0.965677   -0.0678897    -0.250718
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720557065.556525919]: gyroscope bias initial calibration -0.000442177   0.00361089    0.0155709[0m
[0m[ INFO] [1720557065.596223287]: Initialization finish![0m
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time: 1403637261.038319, t: 7717.883476 -5384.408139 -32838.627269 q: -0.236020 -0.525905 0.553582 0.601054 
time: 1403637262.038319, t: 7158.278713 -5355.197302 -33828.025152 q: -0.295424 -0.394495 0.500909 0.711469 
time: 1403637263.038319, t: 6633.240952 -6074.768699 -34767.994252 q: -0.270223 -0.440135 0.387542 0.763592 
time: 1403637264.038319, t: 6085.745214 -5960.692913 -35709.685230 q: -0.122195 -0.566014 0.223199 0.784142 
time: 1403637265.038319, t: 5867.092031 -4093.566129 -36695.518963 q: -0.055587 0.685747 -0.381320 -0.617459 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720557191.480465711]: Shutdown request received.[0m
[33m[ WARN] [1720557191.480540204]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720557191.481546320]: Shutdown request received.[0m
[33m[ WARN] [1720557191.481573321]: Reason given for shutdown: [user request][0m
killed
