/SLAM-Hive/slam_hive_results/mapping_results/3191/2396_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720557558.460769772]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720557558.462716010]: init begins[0m
[31m[ERROR] [1720557558.463721899]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/50696326-3e33-11ef-ad79-0242ac110005/roslaunch-9d828236bbb0-118.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://9d828236bbb0:33203/[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] [1720557559.567235562]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720557559.569062995]: 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] [1720557559.574847138]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720557559.575043830]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720557559.575068602]: ROW: 288 COL: 451 [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] [1720557559.575306934]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720557559.575526670]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720557559.575688814]: 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://9d828236bbb0:11311/[0m
]2;roscore http://9d828236bbb0:11311/
[1msetting /run_id to 50696326-3e33-11ef-ad79-0242ac110005[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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720557568.619659478]: 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: 316920438.28 
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] [1720557589.985798611]: gyroscope bias initial calibration -0.0563175 -0.0895932 -0.0202705[0m
[0m[ INFO] [1720557590.069117924]: Initialization finish![0m
time: 1403637151.538319, t: -46.949492 60.904863 156.737473 q: 0.262222 0.709567 0.604455 -0.249777 
time: 1403637153.538319, t: 111.834382 98.098322 297.221346 q: -0.224453 0.938619 0.211850 -0.154064 
time: 1403637155.538319, t: -68.677223 100.340044 228.060384 q: -0.100715 0.936484 0.243474 -0.231462 
time: 1403637157.538319, t: -143.212068 118.061351 136.858848 q: 0.073605 0.996054 0.032997 -0.037023 
time: 1403637159.538319, t: -236.569665 153.938931 9.469651 q: 0.053918 0.981203 -0.096005 0.158480 
time: 1403637161.538319, t: -343.824361 211.760503 -161.256939 q: 0.157589 0.879826 -0.301430 0.331982 
time: 1403637163.538319, t: -451.626432 293.404527 -382.244577 q: 0.266592 0.675490 -0.468880 0.502786 
time: 1403637165.538319, t: -546.509857 394.743363 -654.209744 q: 0.271336 0.522287 -0.533820 0.607148 
time: 1403637167.538319, t: -620.201142 510.345933 -975.824508 q: 0.271893 0.439431 -0.370990 0.771583 
time: 1403637169.538319, t: -674.063997 638.294647 -1346.885783 q: 0.144482 0.289893 -0.145541 0.934829 
time: 1403637171.538319, t: -710.768791 778.752590 -1768.944319 q: -0.024913 0.110762 0.531301 0.839542 
time: 1403637173.538319, t: -734.750646 924.721325 -2250.701085 q: -0.275091 0.191559 0.465051 0.819364 
time: 1403637175.538319, t: -756.630922 1080.917874 -2794.221254 q: 0.520753 -0.070894 -0.191272 -0.828978 
time: 1403637177.538319, t: -785.876612 1257.666155 -3392.734787 q: 0.595860 -0.013547 -0.201916 -0.777173 
time: 1403637179.538319, t: -827.863236 1455.021247 -4042.443810 q: 0.710429 0.171803 -0.060891 -0.679755 
time: 1403637181.538319, t: -886.768508 1670.904753 -4738.936062 q: 0.765670 0.351155 -0.019168 -0.538583 
time: 1403637183.538319, t: -963.470158 1900.426509 -5482.491118 q: 0.779873 0.554918 -0.012830 -0.289309 
time: 1403637185.538319, t: -1063.549892 2136.980237 -6276.733402 q: 0.742778 0.633377 -0.031305 -0.214790 
time: 1403637187.538319, t: -1184.523442 2378.899626 -7126.315517 q: 0.680395 0.732405 0.015156 0.020373 
time: 1403637189.538319, t: -1323.876562 2624.404425 -8034.777817 q: 0.619619 0.734333 0.040615 0.274188 
time: 1403637191.538319, t: -1475.374586 2871.746829 -9006.118826 q: 0.450610 0.761036 0.156686 0.439573 
time: 1403637193.538319, t: -1636.650981 3121.157467 -10041.240986 q: 0.287338 0.756569 0.170298 0.562173 
time: 1403637195.538319, t: -2218.979674 -960.221685 -11152.088292 q: 0.818543 0.086375 -0.546450 -0.154660 
time: 1403637197.538319, t: -3479.432496 1214.543088 -12321.947435 q: 0.757006 -0.031920 -0.482707 -0.439222 
time: 1403637199.538319, t: -3739.189062 1634.366197 -13544.697107 q: 0.742608 0.478508 -0.457449 -0.101510 
time: 1403637201.538319, t: -3991.421815 1962.215265 -14829.800073 q: 0.523898 0.636497 -0.490890 0.281830 
time: 1403637203.538319, t: -4100.808936 2561.479433 -16174.316690 q: 0.571109 0.560719 -0.414769 0.432892 
time: 1403637205.538319, t: -4361.658852 2708.384083 -17579.856290 q: 0.545209 0.462401 -0.323600 0.619851 
time: 1403637207.538319, t: -3232.015884 4246.510027 -19043.619540 q: 0.724721 0.146603 -0.186228 0.646998 
time: 1403637209.538319, t: -3343.993312 4467.636747 -20559.961741 q: 0.626180 0.136278 -0.004003 0.767666 
time: 1403637211.538319, t: -4516.750924 3702.922658 -22124.080329 q: 0.360134 -0.000394 0.123777 0.924653 
time: 1403637213.538319, t: -4627.285593 3892.360574 -23737.272392 q: 0.265904 -0.035664 0.206468 0.940954 
time: 1403637215.538319, t: -4755.340173 4026.301227 -25398.225950 q: 0.139017 -0.164658 0.545632 0.809845 
time: 1403637217.538319, t: -4868.098627 4148.409775 -27108.094205 q: -0.066918 -0.068062 0.797722 0.595423 
time: 1403637219.538319, t: -4985.882817 4234.268446 -28874.627180 q: -0.160124 -0.083696 0.905937 0.382928 
time: 1403637221.538319, t: -5041.516095 4366.575306 -30693.104404 q: -0.339031 0.080373 0.902397 0.253532 
time: 1403637223.538319, t: -5097.502019 4469.890063 -32570.756396 q: 0.544320 -0.215101 -0.786269 -0.198061 
time: 1403637225.538319, t: -2124.319550 2932.135165 -34462.257911 q: -0.151609 0.693645 -0.041830 0.702938 
time: 1403637227.538319, t: -4371.301586 1867.007946 -36351.151971 q: 0.519184 0.175304 -0.285329 0.786323 
time: 1403637229.538319, t: -4241.592016 1879.618386 -38329.553934 q: 0.651979 -0.030221 0.178496 0.736308 
time: 1403637231.538319, t: -4033.414526 1798.234616 -40294.232062 q: 0.425701 -0.436127 -0.328240 0.721686 
time: 1403637233.538319, t: -3994.768198 1726.609652 -42255.432374 q: -0.021827 0.853255 0.510989 -0.101831 
time: 1403637235.538319, t: -4004.561772 1652.394192 -44247.920115 q: -0.297141 0.571261 0.716511 0.268290 
time: 1403637237.538319, t: -4005.542908 1564.037955 -46291.754873 q: 0.640714 -0.034775 -0.670513 -0.372409 
time: 1403637239.538319, t: -4033.644012 1463.347451 -48395.230859 q: 0.684185 -0.202644 -0.299834 -0.633186 
time: 1403637241.538319, t: -4095.739907 1368.030137 -50551.073771 q: -0.409990 0.071898 -0.215869 0.883255 
time: 1403637243.538319, t: -4350.536670 1328.903823 -52741.947138 q: -0.053062 -0.318370 -0.358871 0.875806 
time: 1403637245.538319, t: -4563.566711 1351.381964 -54954.004791 q: 0.294479 -0.454679 -0.556133 0.630289 
time: 1403637247.538319, t: -4716.220538 1368.163489 -57185.357441 q: 0.894104 -0.236938 -0.207478 0.318420 
time: 1403637249.538319, t: -4854.801899 1372.257948 -59452.403743 q: 0.951396 -0.295885 0.078615 -0.033419 
time: 1403637251.538319, t: -4981.975076 1343.144777 -61753.271660 q: 0.806035 -0.276918 0.362029 -0.377570 
time: 1403637253.538319, t: -5138.000151 1344.678014 -64078.305167 q: 0.428820 -0.254424 0.616184 -0.609671 
time: 1403637255.538319, t: -5281.229879 1341.122612 -66422.031701 q: 0.065414 0.172517 -0.666435 0.722374 
time: 1403637257.538319, t: -5401.300774 1518.730758 -68794.209321 q: 0.727415 -0.108231 -0.390245 0.553952 
time: 1403637259.538319, t: -4842.206659 813.785769 -71225.848944 q: 0.756795 -0.331629 -0.264353 0.497395 
time: 1403637261.538319, t: -4435.970890 661.566410 -73666.591552 q: 0.827969 -0.473874 -0.230397 0.191908 
time: 1403637263.538319, t: -5219.045822 794.511920 -76138.798688 q: -0.490570 0.502452 -0.322015 0.634972 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720557705.459056929]: Shutdown request received.[0m
[33m[ WARN] [1720557705.459099313]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720557705.460038987]: Shutdown request received.[0m
[33m[ WARN] [1720557705.460066816]: Reason given for shutdown: [user request][0m
killed
