/SLAM-Hive/slam_hive_results/mapping_results/3200/2405_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720558949.891010462]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720558949.892307346]: init begins[0m
[31m[ERROR] [1720558949.893518303]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/8dc46204-3e36-11ef-8403-0242ac110005/roslaunch-22be45e37848-118.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://22be45e37848:45033/[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] [1720558950.998671955]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720558950.999319899]: 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] [1720558951.006062358]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720558951.006280201]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720558951.006303413]: 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] [1720558951.006482924]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720558951.006698772]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720558951.006858830]: 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://22be45e37848:11311/[0m
]2;roscore http://22be45e37848:11311/
[1msetting /run_id to 8dc46204-3e36-11ef-8403-0242ac110005[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_04_difficult.bag  --clock 
[0m[ INFO] [1720558960.025457249]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316920832.91 
throw img0
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
[33m[ WARN] [1720558961.404574118]: gyroscope bias initial calibration -0.00344644   0.0202929   0.0769486[0m
[0m[ INFO] [1720558961.441203451]: Initialization finish![0m
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time: 1403638227.345097, t: 0.579176 1.680851 0.056617 q: 0.061454 0.829202 -0.089125 0.548365 
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time: 1403638227.645097, t: 0.553907 1.694595 0.066765 q: 0.062884 0.828897 -0.089251 0.548644 
time: 1403638227.745097, t: 0.550412 1.692293 0.069900 q: 0.062819 0.828974 -0.089262 0.548533 
time: 1403638227.845097, t: 0.549453 1.691804 0.071656 q: 0.062868 0.829045 -0.089253 0.548421 
time: 1403638227.945097, t: 0.548480 1.691540 0.073442 q: 0.062821 0.829097 -0.089298 0.548340 
time: 1403638228.045097, t: 0.547732 1.692107 0.074229 q: 0.062862 0.829105 -0.089188 0.548342 
time: 1403638228.145097, t: 0.546642 1.692213 0.075522 q: 0.062907 0.829121 -0.089103 0.548326 
time: 1403638228.245097, t: 0.546266 1.693626 0.077526 q: 0.063107 0.829134 -0.089143 0.548277 
time: 1403638228.345097, t: 0.545669 1.695915 0.078949 q: 0.063267 0.829104 -0.089298 0.548278 
time: 1403638228.445097, t: 0.545081 1.697762 0.081125 q: 0.063373 0.829153 -0.089331 0.548187 
time: 1403638228.545097, t: 0.544734 1.699884 0.083674 q: 0.063402 0.829167 -0.089365 0.548157 
time: 1403638228.645097, t: 0.544882 1.702327 0.086344 q: 0.063511 0.829238 -0.089380 0.548035 
time: 1403638228.745097, t: 0.545505 1.700298 0.088217 q: 0.063201 0.829322 -0.089184 0.547975 
time: 1403638228.845097, t: 0.546276 1.699249 0.090606 q: 0.063022 0.829409 -0.089020 0.547891 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720559063.475592682]: Shutdown request received.[0m
[33m[ WARN] [1720559063.475626843]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720559063.476585613]: Shutdown request received.[0m
[33m[ WARN] [1720559063.476605761]: Reason given for shutdown: [user request][0m
killed
