/SLAM-Hive/slam_hive_results/mapping_results/3247/2452_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720565758.462788057]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720565758.464916531]: init begins[0m
[31m[ERROR] [1720565758.466029997]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/67fe013c-3e46-11ef-9318-0242ac110005/roslaunch-0e074bf79d51-117.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://0e074bf79d51:37205/[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] [1720565759.571662230]: 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] [1720565759.576581695]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720565759.576822411]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720565759.576845923]: 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] [1720565759.577033564]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720565759.577254779]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720565759.577433228]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://0e074bf79d51:11311/[0m
]2;roscore http://0e074bf79d51:11311/
[1msetting /run_id to 67fe013c-3e46-11ef-9318-0242ac110005[0m
[0m[ INFO] [1720565759.618327359]: Connected to master at [localhost:11311][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_05_difficult.bag  --clock 
[0m[ INFO] [1720565768.622599349]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316927250.69 
init first imu pose
averge acc 9.018495 -0.034290 -3.793590
init R0 
    0.387752   0.00833132     0.921726
-1.54074e-33    -0.999959   0.00903845
    0.921764  -0.00350467    -0.387736
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720565779.430513494]: gyroscope bias initial calibration 0.00778591  0.0161854  0.0739955[0m
[0m[ INFO] [1720565779.486725000]: Initialization finish![0m
time: 1403638528.577830, t: 0.153487 -0.228111 0.229116 q: -0.003400 0.811113 -0.030096 0.584105 
time: 1403638529.577830, t: 0.062543 -0.115348 0.220256 q: 0.005744 0.847168 -0.024044 0.530749 
time: 1403638530.577830, t: 0.156742 -0.085340 0.081264 q: 0.018329 0.838952 -0.050954 0.541504 
time: 1403638531.577830, t: 0.221437 -0.086359 0.046908 q: 0.028892 0.834506 -0.054680 0.547518 
time: 1403638532.577830, t: 0.069013 -0.034046 0.007054 q: 0.040417 0.834177 -0.062488 0.546453 
time: 1403638533.577830, t: 0.175975 -0.134088 -0.062117 q: 0.030969 0.836739 -0.056396 0.543809 
time: 1403638534.577830, t: 0.181879 -0.112856 -0.000574 q: 0.037808 0.835420 -0.061632 0.544835 
time: 1403638535.577830, t: 0.184162 -0.103465 0.017924 q: 0.041133 0.835198 -0.063769 0.544689 
time: 1403638536.577830, t: 0.194606 -0.104847 0.013783 q: 0.041410 0.834992 -0.064113 0.544943 
time: 1403638537.577830, t: 0.194773 -0.101343 0.008479 q: 0.042043 0.835134 -0.064349 0.544649 
time: 1403638538.577830, t: 0.194592 -0.100735 0.007303 q: 0.042555 0.835256 -0.064409 0.544415 
time: 1403638539.577830, t: 0.209263 -0.121469 0.087624 q: 0.028668 0.818566 -0.052620 0.571278 
time: 1403638540.577830, t: 0.382096 -0.121607 0.242717 q: 0.019142 0.825062 -0.030137 0.563914 
time: 1403638541.577830, t: 0.843851 0.086347 0.325594 q: -0.045520 0.816005 0.106673 0.566291 
time: 1403638542.577830, t: 1.234896 0.685075 0.511700 q: -0.142519 0.767544 0.258617 0.568930 
time: 1403638543.577830, t: 1.559072 1.310671 0.687465 q: -0.172090 0.781915 0.265099 0.537324 
time: 1403638544.577830, t: 1.740996 2.231622 0.835587 q: -0.246775 0.738972 0.366715 0.508471 
time: 1403638545.577830, t: 1.921685 3.235441 0.898419 q: -0.261197 0.727687 0.381076 0.506980 
time: 1403638546.577830, t: 2.127619 4.155289 0.881181 q: -0.333364 0.661259 0.497634 0.451625 
time: 1403638547.577830, t: 2.108952 5.095575 0.907507 q: -0.346514 0.644573 0.519414 0.441207 
time: 1403638548.577830, t: 1.963450 6.271757 0.816673 q: -0.377272 0.604862 0.567760 0.411650 
time: 1403638549.577830, t: 1.710318 7.555413 1.061966 q: -0.396351 0.595378 0.573754 0.399045 
time: 1403638550.577830, t: 1.504858 8.822359 1.560777 q: -0.402754 0.597022 0.571368 0.393563 
time: 1403638551.577830, t: 1.459297 9.900529 1.936645 q: -0.413000 0.620488 0.522561 0.413952 
time: 1403638552.577830, t: 2.158798 10.764959 2.164256 q: -0.369503 0.670432 0.441825 0.467739 
time: 1403638553.577830, t: 3.097304 10.985771 2.241907 q: -0.368073 0.636514 0.465797 0.492346 
time: 1403638554.577830, t: 3.810315 10.311052 2.478851 q: -0.340985 0.658424 0.488730 0.459728 
time: 1403638555.577830, t: 4.462911 9.493844 2.566498 q: -0.326891 0.684437 0.447737 0.473519 
time: 1403638556.577830, t: 5.215735 8.819629 2.728545 q: -0.315957 0.701495 0.454929 0.448458 
time: 1403638557.577830, t: 6.281814 8.318608 2.865480 q: -0.324143 0.686744 0.451432 0.468532 
time: 1403638558.577830, t: 7.464763 8.103215 2.977438 q: -0.297679 0.707601 0.465466 0.440488 
time: 1403638559.577830, t: 8.712316 8.412338 3.047181 q: -0.310774 0.684161 0.458820 0.474160 
time: 1403638560.577830, t: 9.756169 8.784024 2.821355 q: -0.249305 0.741015 0.325586 0.531731 
time: 1403638561.577830, t: 10.617551 8.590749 2.738278 q: -0.147421 0.790081 0.180804 0.566877 
time: 1403638562.577830, t: 10.975716 7.971383 2.629554 q: -0.091779 0.802409 0.107018 0.579882 
time: 1403638563.577830, t: 11.197210 7.414562 2.549981 q: -0.002787 0.794508 -0.060748 0.604201 
time: 1403638564.577830, t: 10.812250 6.323836 2.536319 q: -0.020065 0.797000 -0.035486 0.602602 
time: 1403638565.577830, t: 9.732637 4.558089 2.164809 q: -0.020614 0.798439 -0.041377 0.600298 
time: 1403638566.577830, t: 8.416466 2.777854 1.666291 q: 0.006398 0.809408 -0.026726 0.586604 
time: 1403638567.577830, t: 7.283716 1.313550 0.764463 q: 0.013715 0.814957 -0.014542 0.579177 
time: 1403638568.577830, t: 6.437181 0.285966 0.231484 q: 0.026795 0.827228 -0.015858 0.561002 
time: 1403638569.577830, t: 6.146980 -0.121403 -0.009352 q: 0.034218 0.828308 -0.011265 0.559113 
time: 1403638570.577830, t: 6.049202 0.152214 0.097077 q: 0.001370 0.819608 -0.071731 0.568416 
time: 1403638571.577830, t: 5.758315 -0.321397 -0.206624 q: 0.120966 0.780995 -0.225819 0.569578 
time: 1403638572.577830, t: 5.187825 -1.170257 -0.310947 q: 0.227927 0.741558 -0.377151 0.505863 
time: 1403638573.577830, t: 4.702075 -2.365752 -0.252084 q: 0.246635 0.751211 -0.375386 0.483672 
time: 1403638574.577830, t: 4.643023 -3.709898 -0.145411 q: 0.338642 0.627590 -0.519962 0.470204 
time: 1403638575.577830, t: 4.282895 -4.794397 -0.023469 q: 0.339104 0.634279 -0.542056 0.434598 
time: 1403638576.577830, t: 3.952353 -6.077099 0.242146 q: 0.362802 0.659035 -0.517338 0.407931 
time: 1403638577.577830, t: 4.277180 -7.737363 0.362512 q: 0.372057 0.647737 -0.510231 0.426233 
time: 1403638578.577830, t: 4.779081 -9.481629 0.561372 q: 0.348434 0.635956 -0.523221 0.447654 
time: 1403638579.577830, t: 5.572910 -10.809925 0.619210 q: 0.349299 0.632714 -0.516826 0.458861 
time: 1403638580.577830, t: 6.137009 -11.455523 0.465758 q: 0.186221 0.760771 -0.276577 0.556825 
time: 1403638581.577830, t: 6.523500 -12.148837 0.468569 q: 0.163534 0.786354 -0.232310 0.548576 
time: 1403638582.577830, t: 6.820578 -12.598638 0.665705 q: 0.177993 0.775383 -0.232082 0.559676 
time: 1403638583.577830, t: 6.771425 -11.291157 1.339592 q: 0.176909 0.785731 -0.239815 0.542050 
time: 1403638584.577830, t: 7.079260 -10.979662 1.630081 q: 0.189980 0.761243 -0.227816 0.576643 
time: 1403638585.577830, t: 6.970715 -10.221582 1.485543 q: 0.173669 0.779805 -0.238664 0.552071 
time: 1403638586.577830, t: 7.013872 -9.504708 1.520571 q: 0.188841 0.775791 -0.233327 0.555019 
time: 1403638587.577830, t: 7.059722 -8.590574 1.447147 q: 0.174356 0.779426 -0.242667 0.550644 
time: 1403638588.577830, t: 7.049870 -7.770485 1.245578 q: 0.179694 0.778697 -0.238970 0.551575 
time: 1403638589.577830, t: 7.020313 -6.778520 1.167857 q: 0.174911 0.775607 -0.244690 0.554947 
time: 1403638590.577830, t: 6.827985 -5.699177 1.134387 q: 0.174015 0.778146 -0.249232 0.549628 
time: 1403638591.577830, t: 6.886916 -4.895915 1.167870 q: 0.157700 0.802992 -0.264841 0.510092 
time: 1403638592.577830, t: 7.262394 -4.532748 1.265660 q: 0.124513 0.792099 -0.220011 0.555581 
time: 1403638593.577830, t: 7.742901 -4.871452 1.660937 q: 0.134462 0.798863 -0.176439 0.559113 
time: 1403638594.577830, t: 8.107958 -5.013454 1.955404 q: 0.117624 0.792366 -0.152793 0.578770 
time: 1403638595.577830, t: 8.189248 -4.834375 2.123837 q: 0.108802 0.798897 -0.163329 0.568551 
time: 1403638596.577830, t: 8.215699 -4.422831 2.102603 q: 0.171346 0.804553 -0.116342 0.556597 
time: 1403638597.577830, t: 8.593773 -2.889730 2.226178 q: 0.165329 0.788599 -0.125466 0.578823 
time: 1403638598.577830, t: 8.927980 -0.347471 2.085412 q: 0.103792 0.801862 -0.124398 0.575126 
time: 1403638599.577830, t: 8.984868 2.433827 2.052893 q: 0.010409 0.820816 0.018799 0.570789 
time: 1403638600.577830, t: 9.054263 4.924591 1.944151 q: -0.040612 0.832452 -0.028295 0.551882 
time: 1403638601.577830, t: 9.579900 6.532988 1.974714 q: -0.015395 0.821028 0.035981 0.569545 
time: 1403638602.577830, t: 10.113162 8.187569 2.160737 q: -0.185307 0.737451 0.207134 0.615566 
time: 1403638603.577830, t: 9.732710 9.020667 2.424337 q: -0.266880 0.732519 0.347377 0.521075 
time: 1403638604.577830, t: 8.827017 9.172315 2.286729 q: -0.252400 0.721188 0.364349 0.532383 
time: 1403638605.577830, t: 8.424680 8.398805 2.814554 q: -0.229870 0.724717 0.380310 0.526602 
time: 1403638606.577830, t: 7.267718 8.582567 2.841545 q: -0.229310 0.745741 0.375437 0.500335 
time: 1403638607.577830, t: 5.871227 9.307889 2.713516 q: -0.324371 0.691756 0.442712 0.469322 
time: 1403638608.577830, t: 5.407484 10.164268 2.214878 q: -0.321672 0.682749 0.433789 0.492146 
time: 1403638609.577830, t: 4.731509 10.429840 1.753806 q: -0.326746 0.690519 0.430275 0.480921 
time: 1403638610.577830, t: 4.635057 10.499502 1.209543 q: -0.335136 0.676823 0.422977 0.500684 
time: 1403638611.577830, t: 4.465745 10.023689 0.783349 q: -0.310781 0.672135 0.444184 0.504332 
time: 1403638612.577830, t: 4.220736 9.205720 0.545797 q: -0.318516 0.688710 0.431737 0.487678 
time: 1403638613.577830, t: 3.923682 8.379972 0.313831 q: -0.309515 0.691301 0.423486 0.496953 
time: 1403638614.577830, t: 3.577116 7.413705 0.065711 q: -0.253506 0.743502 0.326421 0.525727 
time: 1403638615.577830, t: 3.422157 6.286196 0.275311 q: -0.105352 0.805131 0.122634 0.570637 
time: 1403638616.577830, t: 3.275011 5.135581 0.267256 q: -0.009417 0.818929 -0.024545 0.573293 
time: 1403638617.577830, t: 3.329177 3.954367 0.045254 q: 0.007989 0.839337 -0.022581 0.543083 
time: 1403638618.577830, t: 3.912348 3.007771 0.241911 q: 0.005775 0.833540 -0.005879 0.552398 
time: 1403638619.577830, t: 4.958996 2.200468 0.381077 q: 0.092722 0.805345 -0.142923 0.567798 
time: 1403638620.577830, t: 6.006907 1.625220 0.175073 q: 0.098790 0.796727 -0.173530 0.570398 
time: 1403638621.577830, t: 5.604349 0.717699 0.268997 q: 0.105000 0.797627 -0.147639 0.575299 
time: 1403638622.577830, t: 5.597988 0.244608 0.107119 q: 0.107847 0.790377 -0.144908 0.585384 
time: 1403638623.577830, t: 5.052248 0.143489 0.176078 q: 0.101923 0.792954 -0.153159 0.580843 
time: 1403638624.577830, t: 4.172522 0.176157 0.206360 q: 0.098511 0.788158 -0.168204 0.583789 
time: 1403638625.577830, t: 3.136742 0.275618 0.192849 q: 0.081837 0.801987 -0.141472 0.574548 
time: 1403638626.577830, t: 2.183213 0.251649 0.193708 q: 0.094969 0.810628 -0.135561 0.561682 
time: 1403638627.577830, t: 1.578872 0.194027 0.142357 q: 0.093460 0.818609 -0.132870 0.550900 
time: 1403638628.577830, t: 1.303822 0.196018 0.038007 q: 0.085400 0.807464 -0.144705 0.565481 
time: 1403638629.577830, t: 1.259776 0.195117 -0.014350 q: 0.094443 0.819097 -0.140193 0.548185 
time: 1403638630.577830, t: 1.328992 0.186923 -0.114323 q: 0.095437 0.803837 -0.138471 0.570582 
time: 1403638631.577830, t: 1.051739 0.236543 -0.167439 q: 0.090982 0.827630 -0.130090 0.538356 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720565884.312820585]: Shutdown request received.[0m
[33m[ WARN] [1720565884.312856919]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720565884.313723145]: Shutdown request received.[0m
[33m[ WARN] [1720565884.313750885]: Reason given for shutdown: [user request][0m
killed
