/SLAM-Hive/slam_hive_results/mapping_results/3189/2394_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720557216.025406927]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720557216.026810996]: init begins[0m
[31m[ERROR] [1720557216.027913225]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/844dd312-3e32-11ef-9997-0242ac110005/roslaunch-644cbc240f33-119.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://644cbc240f33:34451/[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 [156][0m
[0m[ INFO] [1720557217.131643819]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720557217.132541011]: 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] [1720557217.138419274]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720557217.138606941]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720557217.138629244]: ROW: 480 COL: 752 [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] [1720557217.138839775]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720557217.139039510]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720557217.139220370]: 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://644cbc240f33:11311/[0m
]2;roscore http://644cbc240f33:11311/
[1msetting /run_id to 844dd312-3e32-11ef-9997-0242ac110005[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 [249][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720557226.174492029]: 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: 316920095.84 
init first imu pose
averge acc 9.443749 -0.647051 -2.458075
init R0 
  0.259903   0.245815   0.933823
         0  -0.967056   0.254563
  0.965635 -0.0661618  -0.251341
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720557247.550051766]: gyroscope bias initial calibration  -0.0218848  -0.0301332 0.000537237[0m
[0m[ INFO] [1720557247.638347334]: Initialization finish![0m
time: 1403637151.538319, t: -0.127266 -21.820419 23.057923 q: 0.945400 0.141602 -0.291108 0.037721 
time: 1403637153.538319, t: -0.845450 -16.222866 15.977520 q: 0.887233 0.315513 -0.327116 0.079150 
time: 1403637155.538319, t: -1.486043 -8.195750 14.357631 q: 0.912994 0.224220 -0.328982 0.089090 
time: 1403637157.538319, t: -5.782426 10.813235 8.555608 q: 0.913859 -0.088096 -0.378440 0.117828 
time: 1403637159.538319, t: -9.504781 56.600693 -9.588628 q: 0.897624 -0.191700 -0.383036 0.103950 
time: 1403637161.538319, t: -10.212150 136.491879 -50.230135 q: 0.812514 -0.447312 -0.362362 0.091797 
time: 1403637165.538319, t: 28.657996 398.553757 -252.413599 q: 0.563080 -0.772536 -0.292960 0.017421 
time: 1403637167.538319, t: 80.337567 571.025974 -432.873133 q: 0.589763 -0.721327 -0.360752 -0.041520 
time: 1403637169.538319, t: 159.151645 769.301022 -661.708240 q: 0.696887 -0.619173 -0.361708 -0.011838 
time: 1403637171.538319, t: 256.918439 1000.375900 -936.101700 q: 0.933361 -0.086614 -0.344994 0.048115 
time: 1403637173.538319, t: 363.023480 1264.383330 -1230.068286 q: 0.858690 -0.268889 -0.416347 0.130402 
time: 1403637175.538319, t: 473.312239 1564.211310 -1549.670921 q: 0.781380 -0.543115 -0.302670 0.053499 
time: 1403637177.538319, t: 598.391330 1899.298962 -1909.650743 q: 0.699190 -0.580683 -0.411821 0.065906 
time: 1403637179.538319, t: 740.446150 2268.023848 -2314.217730 q: 0.658822 -0.666111 -0.349343 -0.014472 
time: 1403637181.538319, t: 905.109018 2666.509517 -2767.590904 q: 0.645038 -0.685514 -0.336421 -0.028573 
time: 1403637183.538319, t: 1094.167804 3094.120794 -3271.954182 q: 0.675176 -0.692509 -0.253799 0.012421 
time: 1403637185.538319, t: 1305.652253 3550.743217 -3830.788574 q: 0.616151 -0.690456 -0.375450 0.051640 
time: 1403637187.538319, t: 1538.736624 4037.639547 -4442.554748 q: 0.613249 -0.713146 -0.337949 0.033753 
time: 1403637189.538319, t: 1792.728699 4552.422971 -5108.840601 q: 0.561694 -0.776565 -0.285367 0.003423 
time: 1403637191.538319, t: 2071.949942 5091.018016 -5830.735277 q: 0.598969 -0.739560 -0.305878 -0.026938 
time: 1403637193.538319, t: 2377.055524 5654.504890 -6606.792416 q: 0.575178 -0.748547 -0.329918 0.001352 
time: 1403637195.538319, t: 2557.621764 6116.713944 -7382.455505 q: -0.490515 0.814481 0.305659 0.050873 
time: 1403637197.538319, t: 3039.516966 6800.629211 -8210.453187 q: 0.667318 -0.654190 -0.354621 -0.031080 
time: 1403637199.538319, t: 3451.568306 7458.045597 -9112.267387 q: 0.894083 -0.237815 -0.379551 0.000217 
time: 1403637201.538319, t: 3849.029039 8135.664772 -10038.815709 q: 0.897522 -0.007907 -0.414302 0.150815 
time: 1403637203.538319, t: 4242.294255 8836.173150 -10975.136999 q: 0.905382 -0.021589 -0.420944 0.051224 
time: 1403637207.538319, t: 5340.867336 10643.522197 -13163.188833 q: 0.922858 0.145843 -0.349490 0.070135 
time: 1403637209.538319, t: 5840.553982 12137.862329 -15044.003306 q: 0.908870 0.343288 -0.234539 0.033163 
time: 1403637211.538319, t: 6238.191349 12368.163584 -16222.484731 q: 0.922825 0.190837 -0.329407 0.058882 
time: 1403637213.538319, t: 6475.400871 12983.429074 -17359.068953 q: 0.933185 0.116714 -0.336385 0.048870 
time: 1403637215.538319, t: 6783.981307 13738.646168 -18480.129573 q: 0.932115 0.273931 -0.234261 0.035273 
time: 1403637217.538319, t: 7180.955002 14541.935527 -19588.458581 q: 0.864862 0.407458 -0.269494 0.115609 
time: 1403637219.538319, t: 7624.320878 15361.482278 -20686.622792 q: 0.823288 0.504862 -0.258408 0.023158 
time: 1403637221.538319, t: 8085.129545 16185.283751 -21776.483532 q: 0.839463 0.437811 -0.319417 0.039961 
time: 1403637223.538319, t: 8539.135854 17018.577263 -22861.341000 q: 0.893786 0.311652 -0.319810 0.041734 
time: 1403637225.538319, t: 7727.074108 18534.632437 -23753.201021 q: 0.847902 0.427437 -0.306525 0.066354 
time: 1403637227.538319, t: 9739.691445 18330.200544 -24841.451530 q: 0.894456 0.233696 -0.380681 0.020434 
time: 1403637229.538319, t: 8434.153054 20238.855744 -25898.596403 q: 0.864432 0.432058 -0.238300 0.096417 
time: 1403637231.538319, t: 9542.267470 20816.574886 -26997.114917 q: 0.880808 -0.276311 -0.375502 0.082630 
time: 1403637233.538319, t: 10099.310374 21615.703900 -28123.583779 q: 0.636152 -0.684467 -0.345964 0.084410 
time: 1403637235.538319, t: 10538.995241 22538.246077 -29299.794710 q: 0.782984 -0.521294 -0.339051 0.015220 
time: 1403637237.538319, t: 10988.887017 23507.362939 -30516.562914 q: 0.943307 -0.211332 -0.255877 0.006049 
time: 1403637239.538319, t: 11446.640822 24519.802244 -31763.403385 q: 0.760050 -0.533698 -0.349199 0.124699 
time: 1403637241.538319, t: 11916.455110 25566.781875 -33059.329866 q: 0.605673 -0.735139 -0.303073 -0.029606 
time: 1403637245.538319, t: 12934.350039 27737.497825 -35820.848613 q: 0.698877 -0.630081 -0.337089 0.030656 
time: 1403637247.538319, t: 13472.602354 28869.755140 -37278.933460 q: 0.939346 -0.094774 -0.329427 0.011155 
time: 1403637249.538319, t: 14019.692365 30033.071455 -38755.552966 q: 0.933753 -0.000264 -0.357275 0.021446 
time: 1403637251.538319, t: 14570.059913 31223.471007 -40241.669374 q: 0.921950 0.142050 -0.354413 0.064979 
time: 1403637253.538319, t: 15120.675703 32434.669720 -41733.173304 q: 0.920499 0.182129 -0.341811 0.051733 
time: 1403637255.538319, t: 15672.478190 33662.076599 -43227.696282 q: 0.903309 0.277960 -0.323597 0.045349 
time: 1403637257.538319, t: 15552.316295 35153.486740 -44671.594177 q: 0.828757 0.472416 -0.297867 0.035489 
time: 1403637259.538319, t: 16550.047748 36203.232939 -46141.896255 q: 0.797673 0.515503 -0.301519 0.084027 
time: 1403637261.538319, t: 17095.381009 37427.092443 -47640.888028 q: 0.800457 0.520018 -0.293741 0.050650 
time: 1403637263.538319, t: 17631.741106 38648.646645 -49138.980511 q: 0.824411 0.481461 -0.282957 0.092069 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720557362.991572992]: Shutdown request received.[0m
[33m[ WARN] [1720557362.991627203]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720557362.992540995]: Shutdown request received.[0m
[33m[ WARN] [1720557362.992569687]: Reason given for shutdown: [user request][0m
killed
