/SLAM-Hive/slam_hive_results/mapping_results/3193/2398_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720557901.272026922]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720557901.273564635]: init begins[0m
[31m[ERROR] [1720557901.274534933]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1cbe6098-3e34-11ef-8559-0242ac110005/roslaunch-bedf6ff5d06c-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://bedf6ff5d06c:34805/[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] [1720557902.378616011]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720557902.380089256]: 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] [1720557902.385984071]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720557902.386186927]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720557902.386212400]: ROW: 192 COL: 300 [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] [1720557902.386450969]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720557902.386668628]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720557902.386834561]: 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://bedf6ff5d06c:11311/[0m
]2;roscore http://bedf6ff5d06c:11311/
[1msetting /run_id to 1cbe6098-3e34-11ef-8559-0242ac110005[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] [1720557911.437412706]: 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: 316920781.10 
init first imu pose
averge acc 9.443749 -0.647051 -2.458075
init R0 
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] [1720557932.831324266]: gyroscope bias initial calibration -0.0233541  0.0199329  0.0609862[0m
[0m[ INFO] [1720557932.915980221]: Initialization finish![0m
time: 1403637151.538319, t: 4.435944 -1.645817 8.950121 q: 0.518515 -0.621116 -0.418040 -0.413037 
time: 1403637153.538319, t: 2.704199 -2.008830 9.131280 q: 0.588520 -0.549376 -0.465200 -0.367994 
time: 1403637155.538319, t: 1.759333 -1.783288 4.436644 q: 0.533972 -0.637682 -0.378682 -0.405999 
time: 1403637157.538319, t: 4.286589 0.622278 -2.548341 q: -0.351037 0.824246 0.131994 0.424227 
time: 1403637159.538319, t: 16.969168 6.495291 -12.054253 q: -0.245924 0.861669 0.029699 0.442907 
time: 1403637161.538319, t: 43.358198 16.965763 -26.655344 q: -0.064072 0.886158 -0.177255 0.423319 
time: 1403637163.538319, t: 87.633533 29.122116 -47.245344 q: 0.158357 0.819048 -0.360669 0.417135 
time: 1403637165.538319, t: 148.037765 34.601201 -70.910979 q: 0.270120 0.781300 -0.453235 0.333442 
time: 1403637167.538319, t: 221.664627 25.650878 -94.802370 q: 0.303260 0.807842 -0.381622 0.331345 
time: 1403637169.538319, t: 313.560136 -0.460663 -126.741007 q: 0.187624 0.834670 -0.316399 0.409896 
time: 1403637171.538319, t: 418.118160 -35.145474 -163.396324 q: -0.214555 0.803177 0.082960 0.549536 
time: 1403637173.538319, t: 523.732333 -79.372548 -199.020029 q: -0.154106 0.871878 -0.098570 0.454274 
time: 1403637175.538319, t: 634.466572 -133.951499 -233.237514 q: 0.060962 0.801204 -0.316941 0.503889 
time: 1403637177.538319, t: 750.321715 -197.634188 -265.585643 q: 0.096247 0.854957 -0.329754 0.388649 
time: 1403637179.538319, t: 877.498725 -272.875303 -300.229214 q: 0.203936 0.797727 -0.375635 0.425371 
time: 1403637181.538319, t: 1016.565728 -356.652105 -337.606888 q: 0.220748 0.783747 -0.385583 0.433978 
time: 1403637183.538319, t: 1169.326695 -444.787748 -377.627306 q: 0.165893 0.738492 -0.426294 0.495361 
time: 1403637185.538319, t: 1332.696135 -545.688984 -423.043154 q: 0.157698 0.812820 -0.411909 0.380507 
time: 1403637187.538319, t: 1510.773731 -661.143627 -473.734636 q: 0.176075 0.785704 -0.430798 0.407530 
time: 1403637189.538319, t: 1702.742389 -788.405173 -530.797798 q: 0.237155 0.733509 -0.487665 0.409762 
time: 1403637191.538319, t: 1908.136615 -926.701607 -592.331994 q: 0.232492 0.754063 -0.431091 0.437603 
time: 1403637193.538319, t: 2126.400284 -1078.800688 -658.784527 q: 0.221561 0.768189 -0.447244 0.400961 
time: 1403637195.538319, t: 2429.319849 -1119.264945 -767.740787 q: 0.259947 0.750978 -0.447794 0.409805 
time: 1403637197.538319, t: 2660.076845 -1366.005694 -847.748268 q: 0.169539 0.797985 -0.336983 0.470021 
time: 1403637199.538319, t: 2898.907486 -1582.433651 -920.079867 q: -0.114323 0.800260 0.019686 0.588326 
time: 1403637201.538319, t: 3146.049820 -1783.463791 -993.432419 q: -0.344578 0.776743 0.152726 0.504590 
time: 1403637203.538319, t: 3406.127717 -1974.735436 -1068.496751 q: -0.260040 0.776578 0.193185 0.540357 
time: 1403637205.538319, t: 3673.405518 -2162.481402 -1146.701701 q: -0.263175 0.774421 0.199315 0.539707 
time: 1403637207.538319, t: 4487.178121 -527.406543 -1483.761872 q: -0.155235 0.843420 0.071211 0.509385 
time: 1403637209.538319, t: 4987.944954 -573.712493 -1724.482858 q: -0.202216 0.810544 0.192966 0.514676 
time: 1403637211.538319, t: 5650.327348 -652.356852 -1724.685287 q: -0.184610 0.853360 0.085880 0.479917 
time: 1403637213.538319, t: 5989.176126 -1512.853571 -1966.433593 q: -0.250781 0.819989 0.144833 0.493711 
time: 1403637215.538319, t: 6252.695304 -1902.532864 -2135.503929 q: -0.388959 0.663118 0.311518 0.558518 
time: 1403637217.538319, t: 6541.425100 -2134.802559 -2235.826996 q: 0.525433 -0.600337 -0.395509 -0.455070 
time: 1403637219.538319, t: 6837.122140 -2308.183908 -2326.161376 q: 0.503748 -0.520353 -0.527023 -0.444653 
time: 1403637221.538319, t: 7127.212224 -2474.714690 -2416.688568 q: -0.479881 0.590792 0.488523 0.426643 
time: 1403637223.538319, t: 7411.403960 -2646.233081 -2508.082830 q: -0.427032 0.653446 0.396508 0.483150 
time: 1403637225.538319, t: 7776.259347 123.935308 -2488.566731 q: -0.222383 0.850873 0.202537 0.430743 
time: 1403637227.538319, t: 7814.206904 839.909255 -2516.828435 q: -0.191001 0.829933 0.188745 0.488984 
time: 1403637229.538319, t: 8683.698457 -408.833253 -2802.191979 q: -0.239599 0.806648 0.209608 0.497971 
time: 1403637231.538319, t: 9109.071324 -1749.159219 -2993.121391 q: -0.021014 0.859440 -0.167692 0.482494 
time: 1403637233.538319, t: 9258.642331 -2393.238644 -3240.765565 q: 0.198375 0.783571 -0.475206 0.347626 
time: 1403637235.538319, t: 9547.062804 -2587.002941 -3354.376563 q: 0.096498 0.827201 -0.260748 0.488300 
time: 1403637237.538319, t: 9837.532124 -2785.591336 -3462.905003 q: -0.111662 0.762656 -0.015752 0.636898 
time: 1403637239.538319, t: 10056.040455 -3153.047263 -3568.628382 q: 0.030874 0.823828 -0.351703 0.443462 
time: 1403637241.538319, t: 10215.380826 -3600.311888 -3654.674199 q: 0.296619 0.729324 -0.472278 0.396305 
time: 1403637243.538319, t: 10310.613020 -4079.498527 -3711.650730 q: 0.256034 0.728377 -0.436907 0.461547 
time: 1403637245.538319, t: 10234.459200 -4673.980326 -3734.493232 q: 0.183248 0.758081 -0.443260 0.441876 
time: 1403637247.538319, t: 9845.345705 -5378.632478 -3688.203474 q: -0.085487 0.763861 -0.007025 0.639655 
time: 1403637249.538319, t: 8790.262670 -6058.569538 -3508.918059 q: -0.070350 0.763773 0.010491 0.641554 
time: 1403637251.538319, t: 7908.210972 -6193.896538 -3052.440043 q: -0.159751 0.735041 0.153475 0.640812 
time: 1403637253.538319, t: 7241.056000 -5961.696378 -2556.513230 q: -0.146560 0.722102 0.225233 0.637463 
time: 1403637255.538319, t: 6490.560608 -4919.913316 -2817.561959 q: -0.177517 0.641736 0.451214 0.594196 
time: 1403637257.538319, t: 7330.918168 -4593.903401 -2891.520326 q: -0.269819 0.563050 0.591933 0.509694 
time: 1403637259.538319, t: 7718.086099 -4753.132849 -2237.613790 q: -0.327420 0.636467 0.526690 0.458588 
time: 1403637261.538319, t: 7676.314760 -4850.572571 -2103.089699 q: -0.316286 0.615161 0.554422 0.462770 
time: 1403637263.538319, t: 7718.831886 -4959.470341 -2040.510296 q: -0.333099 0.633412 0.493966 0.493793 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720558048.257775944]: Shutdown request received.[0m
[33m[ WARN] [1720558048.257838818]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720558048.258777237]: Shutdown request received.[0m
[33m[ WARN] [1720558048.258819293]: Reason given for shutdown: [user request][0m
killed
