/SLAM-Hive/slam_hive_results/mapping_results/3190/2395_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720557387.239505899]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720557387.240519405]: init begins[0m
[31m[ERROR] [1720557387.241508276]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ea5ad704-3e32-11ef-b3d5-0242ac110005/roslaunch-ca3f08b922cd-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://ca3f08b922cd:41277/[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] [1720557388.396351882]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720557388.396862659]: 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] [1720557388.403008219]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720557388.403204404]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720557388.403230552]: ROW: 384 COL: 601 [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] [1720557388.403431046]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720557388.403659966]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720557388.403812869]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://ca3f08b922cd:11311/[0m
]2;roscore http://ca3f08b922cd:11311/
[1msetting /run_id to ea5ad704-3e32-11ef-b3d5-0242ac110005[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 [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720557397.392049817]: 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: 316920267.06 
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! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720557418.767538020]: gyroscope bias initial calibration -0.0284897  0.0315976  0.0716478[0m
[0m[ INFO] [1720557418.853353469]: Initialization finish![0m
time: 1403637153.538319, t: 5.868534 0.043583 7.472841 q: -0.488130 0.771864 0.258411 0.314926 
time: 1403637155.538319, t: 3.124678 -0.856351 3.191634 q: -0.408379 0.831008 0.177658 0.333303 
time: 1403637157.538319, t: 3.984237 1.773174 -3.386783 q: -0.192400 0.931541 -0.043195 0.305528 
time: 1403637159.538319, t: 15.912067 15.532027 -14.432598 q: -0.093743 0.939334 -0.112180 0.310290 
time: 1403637161.538319, t: 42.807232 42.236900 -30.546042 q: 0.135367 0.904225 -0.294287 0.278296 
time: 1403637163.538319, t: 91.580626 82.127482 -57.360191 q: 0.380011 0.776013 -0.425382 0.269158 
time: 1403637165.538319, t: 167.987204 125.927929 -97.204820 q: 0.466264 0.707772 -0.494732 0.192088 
time: 1403637167.538319, t: 277.597773 159.616803 -153.939370 q: 0.448874 0.771987 -0.409788 0.186067 
time: 1403637169.538319, t: 421.101738 207.595235 -237.615535 q: 0.340245 0.830499 -0.358526 0.256834 
time: 1403637171.538319, t: 590.690489 264.897393 -337.229870 q: -0.107792 0.902538 -0.021458 0.416347 
time: 1403637173.538319, t: 770.998848 334.437686 -442.827801 q: -0.028649 0.930279 -0.198221 0.307357 
time: 1403637177.538319, t: 1192.983969 501.946581 -681.287190 q: 0.254178 0.862935 -0.379383 0.216344 
time: 1403637179.538319, t: 1446.736847 599.264928 -824.111403 q: 0.374417 0.801878 -0.395483 0.245757 
time: 1403637181.538319, t: 1731.717118 704.656719 -986.690193 q: 0.399523 0.785505 -0.402069 0.248401 
time: 1403637183.538319, t: 2047.230427 816.628988 -1167.092362 q: 0.368776 0.748845 -0.447193 0.321331 
time: 1403637185.538319, t: 2390.786444 933.552911 -1363.216458 q: 0.351553 0.795184 -0.455694 0.190881 
time: 1403637187.538319, t: 2766.204818 1053.049497 -1576.641248 q: 0.379640 0.769008 -0.465517 0.218618 
time: 1403637189.538319, t: 3172.882346 1175.780223 -1809.405500 q: 0.451483 0.704510 -0.499302 0.224780 
time: 1403637191.538319, t: 3612.552635 1300.245017 -2061.164746 q: 0.443233 0.737745 -0.448155 0.241733 
time: 1403637193.538319, t: 4085.455323 1427.982950 -2333.253555 q: 0.433779 0.740251 -0.470943 0.205127 
time: 1403637195.538319, t: 4606.417862 1572.187496 -2607.776852 q: 0.494636 0.709121 -0.462406 0.196629 
time: 1403637197.538319, t: 5160.596506 1580.117691 -2936.795079 q: 0.366552 0.806054 -0.380132 0.267239 
time: 1403637199.538319, t: 5733.802455 1681.161256 -3267.785773 q: 0.035581 0.911094 -0.097544 0.398907 
time: 1403637201.538319, t: 6314.821026 1812.371537 -3606.869319 q: -0.227439 0.907601 -0.028513 0.351737 
time: 1403637203.538319, t: 6903.615325 1956.383380 -3949.241623 q: -0.147273 0.917394 0.028808 0.368604 
time: 1403637205.538319, t: 7501.491463 2113.182338 -4296.812357 q: -0.151111 0.916678 0.032758 0.368501 
time: 1403637207.538319, t: 8002.184291 2821.491109 -4667.370099 q: -0.099859 0.918049 -0.002091 0.383680 
time: 1403637209.538319, t: 8505.926017 3099.379958 -5058.894151 q: -0.185543 0.898241 0.095061 0.386911 
time: 1403637211.538319, t: 9295.799783 2979.170968 -5380.844495 q: -0.179175 0.912900 0.046700 0.363771 
time: 1403637213.538319, t: 9708.156128 3356.495450 -5730.724060 q: -0.211461 0.881449 0.092409 0.412060 
time: 1403637215.538319, t: 10507.765515 3376.341975 -6053.651365 q: -0.305981 0.819821 0.187920 0.446043 
time: 1403637217.538319, t: 11152.208233 3562.369168 -6446.293415 q: -0.472723 0.766551 0.233153 0.366842 
time: 1403637219.538319, t: 11782.043804 3790.520260 -6831.952418 q: -0.484233 0.708450 0.367887 0.358156 
time: 1403637221.538319, t: 12404.824902 4021.612894 -7215.951903 q: -0.451872 0.766782 0.319447 0.325285 
time: 1403637223.538319, t: 13024.041566 4255.478897 -7600.341128 q: -0.370820 0.821345 0.234087 0.364812 
time: 1403637227.538319, t: 14105.811822 6532.867507 -8088.644385 q: -0.137605 0.931177 0.118214 0.316226 
time: 1403637229.538319, t: 14902.206957 5619.226737 -8818.509114 q: -0.303950 0.865079 0.164667 0.363506 
time: 1403637231.538319, t: 15564.415286 5445.345985 -9225.733107 q: 0.058694 0.910834 -0.221383 0.343403 
time: 1403637233.538319, t: 16192.245838 5578.715440 -9617.166831 q: 0.352457 0.771560 -0.494583 0.189358 
time: 1403637235.538319, t: 16843.145398 5814.392634 -10023.433383 q: 0.262114 0.854591 -0.327152 0.306500 
time: 1403637237.538319, t: 17526.440458 6066.954036 -10447.039792 q: 0.027185 0.870619 -0.113463 0.477921 
time: 1403637239.538319, t: 18226.940827 6332.585284 -10881.797831 q: 0.194648 0.847742 -0.411253 0.272611 
time: 1403637241.538319, t: 18955.013343 6604.268463 -11333.100208 q: 0.463174 0.731401 -0.449918 0.219308 
time: 1403637243.538319, t: 19717.167489 6882.275614 -11805.427342 q: 0.419440 0.760375 -0.409164 0.280151 
time: 1403637245.538319, t: 20510.852869 7167.544761 -12297.941103 q: 0.335043 0.807991 -0.412829 0.253908 
time: 1403637247.538319, t: 21330.786270 7461.744516 -12806.827774 q: -0.058533 0.902595 -0.023067 0.425869 
time: 1403637249.538319, t: 22159.986887 7772.096437 -13323.203683 q: -0.131500 0.905767 0.039289 0.400938 
time: 1403637251.538319, t: 22995.016242 8095.236613 -13844.685406 q: -0.260630 0.877229 0.107782 0.388491 
time: 1403637253.538319, t: 23833.275682 8426.828837 -14369.556515 q: -0.279711 0.861756 0.143156 0.398302 
time: 1403637255.538319, t: 24671.618920 8767.401912 -14897.333403 q: -0.340682 0.824159 0.212044 0.399669 
time: 1403637259.538319, t: 27365.608651 7440.671054 -16024.582857 q: -0.479272 0.747504 0.256407 0.381826 
time: 1403637261.538319, t: 28110.549789 7673.405781 -16705.899462 q: 0.501842 -0.694232 -0.323478 -0.401944 
time: 1403637263.538319, t: 30054.569915 8409.330339 -16787.007343 q: -0.260358 0.881800 0.063920 0.388017 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720557534.028270961]: Shutdown request received.[0m
[33m[ WARN] [1720557534.028312969]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720557534.029186237]: Shutdown request received.[0m
[33m[ WARN] [1720557534.029206367]: Reason given for shutdown: [user request][0m
killed
