/SLAM-Hive/slam_hive_results/mapping_results/3194/2399_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720558072.560443474]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720558072.562160785]: init begins[0m
[31m[ERROR] [1720558072.563110361]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/82d71104-3e34-11ef-ac93-0242ac110005/roslaunch-3e002602d728-118.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://3e002602d728:37215/[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] [1720558073.716983577]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720558073.720046943]: 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] [1720558073.726460413]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720558073.726686143]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720558073.726715838]: 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] [1720558073.726975094]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720558073.727184640]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720558073.727344276]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://3e002602d728:11311/[0m
]2;roscore http://3e002602d728:11311/
[1msetting /run_id to 82d71104-3e34-11ef-ac93-0242ac110005[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] [1720558082.718259012]: 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: 316920952.39 
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! 
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] [1720558104.109384437]: gyroscope bias initial calibration -0.0329484  0.0368783  0.0511237[0m
[0m[ INFO] [1720558104.194124250]: Initialization finish![0m
time: 1403637151.538319, t: -260.537856 -441.489858 230.884268 q: 0.801551 -0.500198 0.139413 -0.296448 
time: 1403637153.538319, t: -207.218101 -508.796681 185.223826 q: 0.910197 -0.379620 -0.086991 -0.140935 
time: 1403637155.538319, t: -201.919336 -624.181659 116.241648 q: 0.938927 -0.328696 -0.088464 -0.050489 
time: 1403637157.538319, t: -187.587061 -777.243274 11.111737 q: 0.881896 -0.455913 -0.049854 0.109169 
time: 1403637159.538319, t: -152.244523 -964.712309 -125.012885 q: 0.894436 -0.412815 -0.030944 0.169145 
time: 1403637161.538319, t: -91.499704 -1183.851607 -294.107356 q: 0.821499 -0.491285 -0.005487 0.289392 
time: 1403637163.538319, t: 0.409911 -1429.117674 -494.952737 q: 0.728466 -0.586861 0.040507 0.351127 
time: 1403637165.538319, t: 127.550621 -1694.554275 -728.440851 q: 0.718646 -0.550594 0.028890 0.423744 
time: 1403637167.538319, t: 292.207149 -1976.975668 -995.520373 q: 0.837767 -0.396879 0.052064 0.371380 
time: 1403637169.538319, t: 490.234444 -2279.714099 -1307.833445 q: 0.909721 -0.123055 0.175161 0.355785 
time: 1403637171.538319, t: 705.915939 -2599.258069 -1685.813801 q: 0.783704 0.486386 0.384092 0.041337 
time: 1403637173.538319, t: 911.984055 -2912.520475 -2139.096060 q: 0.805703 0.549565 0.194943 0.104011 
time: 1403637175.538319, t: 1116.533534 -3210.697051 -2668.579771 q: 0.823355 0.459959 0.188485 0.273858 
time: 1403637177.538319, t: 1324.560192 -3495.727320 -3276.190991 q: 0.802366 0.561828 0.094301 0.177948 
time: 1403637179.538319, t: 1539.050308 -3764.655614 -3960.540090 q: 0.760248 0.594840 0.113022 0.235400 
time: 1403637181.538319, t: 1759.014796 -4011.494572 -4717.190098 q: 0.667253 0.698838 0.104737 0.235433 
time: 1403637183.538319, t: 1983.649567 -4226.714013 -5536.873482 q: 0.492720 0.817555 0.068909 0.289971 
time: 1403637185.538319, t: 2212.006292 -4404.485268 -6406.763693 q: 0.395163 0.906275 0.053705 0.140096 
time: 1403637187.538319, t: 2445.758783 -4541.430955 -7316.891209 q: 0.256532 0.953632 0.037898 0.152780 
time: 1403637189.538319, t: 2683.112305 -4639.140449 -8257.104337 q: 0.171770 0.969686 -0.018577 0.172799 
time: 1403637191.538319, t: 2926.476833 -4699.970769 -9218.328572 q: -0.023988 0.985937 0.027883 0.163022 
time: 1403637193.538319, t: 3271.880349 -4611.505133 -10222.149811 q: -0.087562 0.988542 0.101603 0.069246 
time: 1403637195.538319, t: 3752.461269 -4057.057935 -11252.219319 q: -0.136468 0.950080 0.279145 0.028346 
time: 1403637197.538319, t: 3956.187901 -4082.050171 -12253.417694 q: -0.428618 0.848679 0.309880 0.002239 
time: 1403637199.538319, t: 4169.884126 -4191.931876 -13256.211042 q: 0.862444 -0.388274 -0.322423 0.038434 
time: 1403637201.538319, t: 4423.480992 -4311.094526 -14293.469086 q: 0.923486 0.014576 -0.327438 0.199362 
time: 1403637203.538319, t: 4717.132145 -4438.486418 -15384.904918 q: 0.927496 0.152915 -0.306571 0.149611 
time: 1403637205.538319, t: 5034.764516 -4358.960682 -16537.665568 q: 0.928375 0.167635 -0.282933 0.173111 
time: 1403637207.538319, t: 5342.708988 -3951.731665 -17755.812535 q: 0.920337 0.183123 -0.252909 0.235547 
time: 1403637209.538319, t: 5762.784975 -3949.823972 -19008.094681 q: 0.762486 0.459780 -0.344415 0.297650 
time: 1403637211.538319, t: 6228.261332 -4030.843431 -20298.881952 q: 0.570482 0.595035 -0.372474 0.426318 
time: 1403637213.538319, t: 6717.587997 -4280.653555 -21627.139438 q: 0.468602 0.678839 -0.339037 0.452376 
time: 1403637215.538319, t: 7215.030370 -4212.676443 -22983.569874 q: 0.259848 0.788353 -0.111486 0.546397 
time: 1403637217.538319, t: 7706.813896 -4222.400100 -24370.415552 q: -0.045452 0.863230 -0.006518 0.502718 
time: 1403637219.538319, t: 8182.411850 -4068.602040 -25772.503734 q: -0.208095 0.868207 0.194702 0.406207 
time: 1403637221.538319, t: 8637.715189 -3985.294063 -27182.110389 q: -0.314173 0.885814 0.172133 0.294955 
time: 1403637223.538319, t: 9074.565918 -3818.381653 -28596.216590 q: -0.361938 0.885482 0.128153 0.261722 
time: 1403637225.538319, t: 9502.449330 -3684.811415 -30010.500784 q: -0.498696 0.822151 0.166607 0.218201 
time: 1403637227.538319, t: 9925.576167 -5071.453080 -31437.508950 q: -0.432307 0.877052 0.168874 0.123985 
time: 1403637229.538319, t: 9096.250601 -1128.232209 -32919.969849 q: -0.480048 0.823534 0.301495 -0.021133 
time: 1403637231.538319, t: 10887.831687 -4532.211352 -34363.828401 q: -0.175542 0.981032 0.049269 -0.065835 
time: 1403637233.538319, t: 11359.383933 -4128.930999 -35810.284593 q: 0.109220 0.976324 -0.121188 -0.142043 
time: 1403637235.538319, t: 11836.226120 -3881.967011 -37276.499785 q: -0.225353 0.969910 -0.063475 -0.066789 
time: 1403637237.538319, t: 12315.261021 -3590.194514 -38749.294518 q: 0.641754 -0.763335 0.044341 -0.059207 
time: 1403637239.538319, t: 12789.603948 -3280.281898 -40228.983406 q: 0.501227 -0.837463 0.083765 0.201026 
time: 1403637241.538319, t: 13257.876763 -2915.503175 -41717.769270 q: -0.382962 0.907072 -0.093971 -0.147412 
time: 1403637243.538319, t: 13703.641535 -2468.333730 -43214.095902 q: 0.614106 -0.772911 0.123105 0.101623 
time: 1403637245.538319, t: 14176.634583 -2118.903931 -44720.823867 q: 0.765083 -0.617347 0.101914 0.152133 
time: 1403637247.538319, t: 14673.409571 -1829.996954 -46254.157633 q: 0.988648 -0.016509 0.089666 -0.119427 
time: 1403637249.538319, t: 15173.799225 -1579.293320 -47847.236901 q: 0.970742 0.187226 -0.015057 -0.149596 
time: 1403637251.538319, t: 15668.522394 -1321.096701 -49512.667827 q: 0.882734 0.436587 -0.109715 -0.134668 
time: 1403637253.538319, t: 16256.707498 -1244.225678 -51251.297885 q: 0.784103 0.578640 -0.176084 -0.139113 
time: 1403637255.538319, t: 16866.570813 -1164.457870 -53056.753917 q: 0.611687 0.747014 -0.223686 -0.133320 
time: 1403637257.538319, t: 17155.578264 122.882398 -55149.507994 q: 0.382494 0.862383 -0.303785 -0.133076 
time: 1403637259.538319, t: 18102.760509 -354.731212 -57015.063527 q: 0.163169 0.912832 -0.373921 -0.017232 
time: 1403637261.538319, t: 18826.266068 -218.843997 -58917.539197 q: -0.003977 0.922315 -0.385568 -0.025632 
time: 1403637263.538319, t: 19618.829016 -222.832687 -60839.298241 q: -0.115978 0.887866 -0.444893 0.017700 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720558219.523274030]: Shutdown request received.[0m
[33m[ WARN] [1720558219.523312553]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720558219.524255584]: Shutdown request received.[0m
[33m[ WARN] [1720558219.524288848]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/82d71104-3e34-11ef-ac93-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
