/SLAM-Hive/slam_hive_results/mapping_results/3252/2457_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720566512.204398594]: init begins[0m
[31m[ERROR] [1720566512.205168136]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720566512.205463913]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/29423448-3e48-11ef-9590-0242ac110005/roslaunch-5f27f6162b06-118.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://5f27f6162b06:34977/[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
[1mROS_MASTER_URI=http://5f27f6162b06:11311/[0m
]2;roscore http://5f27f6162b06:11311/
[0m[ INFO] [1720566513.366289338]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720566513.368134444]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 29423448-3e48-11ef-9590-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720566513.391357584]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720566513.391706638]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720566513.391751102]: ROW: 240 COL: 376 [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] [1720566513.392110338]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720566513.392503459]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720566513.392797289]: 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
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_05_difficult.bag  --clock 
[0m[ INFO] [1720566522.345072981]: 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: 316928004.41 
init first imu pose
averge acc 9.019961 -0.035676 -3.795306
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! 
[33m[ WARN] [1720566543.667306422]: gyroscope bias initial calibration -0.056527 0.0503504 0.0544641[0m
[0m[ INFO] [1720566543.744230180]: Initialization finish![0m
time: 1403638539.077830, t: -437.647232 216.040055 -0.817091 q: -0.354666 -0.301046 -0.254021 0.847972 
time: 1403638541.077830, t: -418.566333 279.536370 -33.855061 q: -0.168627 -0.387039 0.047944 0.905244 
time: 1403638543.077830, t: -561.307200 179.719058 -61.420880 q: -0.286280 -0.400536 0.243655 0.835612 
time: 1403638545.077830, t: -723.033449 105.327678 -125.576659 q: -0.331127 -0.476962 0.415924 0.699906 
time: 1403638547.077830, t: -934.744758 16.049171 -236.698338 q: -0.315509 -0.545539 0.565501 0.532024 
time: 1403638549.077830, t: -1252.408194 112.394699 -404.910772 q: -0.322369 -0.440898 0.770786 0.327989 
time: 1403638551.077830, t: -1427.418952 -356.212039 -638.723206 q: -0.450447 -0.381915 0.786648 -0.180067 
time: 1403638553.077830, t: -1720.705496 -590.055229 -890.969455 q: 0.511841 0.136357 -0.809776 0.252366 
time: 1403638555.077830, t: -2107.300489 -769.061633 -1166.142911 q: 0.500812 -0.001271 -0.767427 0.400301 
time: 1403638557.077830, t: -2560.834814 -919.952833 -1462.094281 q: -0.479265 0.225532 0.694590 -0.486811 
time: 1403638559.077830, t: -3215.783973 -698.232322 -1787.042534 q: -0.441556 0.471746 0.581975 -0.493750 
time: 1403638561.077830, t: -3803.210851 -662.886606 -2162.030386 q: -0.254675 0.752803 0.460372 -0.395584 
time: 1403638563.077830, t: -4416.688675 -583.776368 -2593.850809 q: 0.005044 0.908261 0.271121 -0.318637 
time: 1403638565.077830, t: -4993.724096 -683.185068 -3116.504611 q: 0.032280 0.968916 0.054196 -0.239213 
time: 1403638567.077830, t: -5571.199156 -760.162107 -3732.157866 q: 0.034939 0.968817 -0.110070 -0.219220 
time: 1403638569.077830, t: -6143.492293 -813.013722 -4439.555765 q: 0.052198 0.945409 -0.298498 -0.119899 
time: 1403638571.077830, t: -6706.940254 -842.483772 -5233.465987 q: 0.186712 0.781685 -0.594869 -0.015446 
time: 1403638573.077830, t: -7263.896194 -941.289805 -6099.967538 q: -0.394062 -0.554361 0.730174 0.065159 
time: 1403638575.077830, t: -7842.479378 -1111.598401 -7017.632795 q: 0.542622 0.240371 -0.804849 -0.001589 
time: 1403638577.077830, t: -8463.382505 -1305.195888 -7965.533263 q: 0.589335 0.125525 -0.782910 0.154853 
time: 1403638579.077830, t: -9116.002279 -1789.528340 -8996.178126 q: -0.474027 0.075924 0.819037 -0.314185 
time: 1403638581.077830, t: -9947.218502 -1138.526199 -10010.855511 q: 0.579661 0.099082 -0.522585 0.617317 
time: 1403638583.077830, t: -10721.715831 -410.615662 -11008.447318 q: 0.560828 0.003610 -0.474446 0.678498 
time: 1403638585.077830, t: -11518.353471 -562.451409 -12003.569864 q: 0.455434 -0.096666 -0.394474 0.792228 
time: 1403638587.077830, t: -12210.543924 775.233676 -12984.325360 q: 0.302520 -0.072424 -0.186053 0.931998 
time: 1403638589.077830, t: -13104.998389 -967.077728 -14023.537898 q: -0.041386 -0.019944 -0.029810 0.998499 
time: 1403638593.077830, t: -14893.196828 365.346930 -16019.317517 q: -0.184068 -0.337749 0.294573 0.874798 
time: 1403638595.077830, t: -15848.290619 -601.377938 -16999.789553 q: -0.271981 -0.560585 0.476817 0.620013 
time: 1403638597.077830, t: -16799.202515 326.959703 -18113.726436 q: -0.168035 -0.599129 0.221815 0.750737 
time: 1403638599.077830, t: -17714.352718 1573.438378 -19258.073432 q: 0.180521 0.636115 -0.539442 -0.521318 
time: 1403638601.077830, t: -17121.122901 5668.395329 -20475.125458 q: -0.114429 -0.415142 0.839981 0.330143 
time: 1403638603.077830, t: -18220.275127 6001.519481 -21764.070565 q: -0.149553 -0.478289 0.824241 -0.263630 
time: 1403638605.077830, t: -19362.032443 6217.922261 -23105.632400 q: -0.100201 -0.389014 0.795807 -0.453121 
time: 1403638607.077830, t: -20477.257051 6421.464908 -24485.288174 q: -0.100995 -0.267530 0.705379 -0.648590 
time: 1403638609.077830, t: -21681.517007 6417.082894 -25887.710429 q: 0.117031 0.038143 -0.587680 0.799676 
time: 1403638611.077830, t: -22947.569333 6249.551270 -27306.708586 q: 0.109049 -0.183497 -0.471653 0.855559 
time: 1403638613.077830, t: -16610.704887 13609.536916 -28904.925194 q: 0.472558 -0.495302 -0.139149 0.715544 
time: 1403638615.077830, t: -4400.657804 -964.713193 -30210.599237 q: 0.022756 -0.158409 0.748366 -0.643690 
time: 1403638619.077830, t: -2000.301916 -1431.473350 -33322.494327 q: -0.236827 0.330129 0.911443 -0.064808 
time: 1403638621.077830, t: -902.486550 -1727.037993 -34964.475689 q: -0.301337 0.550089 0.749029 0.213434 
time: 1403638623.077830, t: 99.261211 -2196.099775 -36644.191321 q: -0.403817 0.638527 0.534386 0.379007 
time: 1403638625.077830, t: 1105.491579 -2653.525792 -38354.095584 q: -0.410744 0.724692 0.315603 0.454428 
time: 1403638627.077830, t: 1309.423756 -4501.174447 -40168.126228 q: -0.332527 0.838566 0.042921 0.429408 
time: 1403638629.077830, t: -834.889983 -8561.408614 -41994.586360 q: -0.146520 0.794636 -0.385980 0.445090 
time: 1403638631.077830, t: 1467.455574 -8179.098755 -43877.863847 q: -0.222893 0.707153 -0.565398 0.361357 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720566637.920469236]: Shutdown request received.[0m
[33m[ WARN] [1720566637.920536824]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720566637.921357060]: Shutdown request received.[0m
[33m[ WARN] [1720566637.921383140]: Reason given for shutdown: [user request][0m
killed
