/SLAM-Hive/slam_hive_results/mapping_results/3253/2458_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720566662.104698694]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720566662.106114380]: init begins[0m
[31m[ERROR] [1720566662.107207805]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/829a3536-3e48-11ef-bb52-0242ac110005/roslaunch-dfa6b7f259be-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://dfa6b7f259be:37655/[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] [1720566663.261610701]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720566663.263603375]: 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] [1720566663.269379344]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720566663.269588460]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720566663.269623025]: 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] [1720566663.269852302]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720566663.270080946]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720566663.270255313]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://dfa6b7f259be:11311/[0m
]2;roscore http://dfa6b7f259be:11311/
[1msetting /run_id to 829a3536-3e48-11ef-bb52-0242ac110005[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 [246][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720566672.260502998]: 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: 316928154.32 
init first imu pose
averge acc 9.019961 -0.035676 -3.795306
init R0 
   0.387848  0.00866376    0.921683
          0   -0.999956  0.00939952
   0.921723 -0.00364559   -0.387831
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] [1720566693.592368758]: gyroscope bias initial calibration -0.0559424  0.0472147  0.0658679[0m
[0m[ INFO] [1720566693.672288754]: Initialization finish![0m
time: 1403638539.077830, t: -612.673069 233.875965 280.318659 q: -0.081130 -0.519124 -0.375477 0.763508 
time: 1403638541.077830, t: -799.564015 73.460788 297.529201 q: 0.139649 -0.560011 -0.473242 0.665528 
time: 1403638543.077830, t: -918.323175 78.570368 270.651953 q: 0.182712 -0.588116 -0.250867 0.746862 
time: 1403638545.077830, t: -1056.399175 147.972129 207.602332 q: 0.221956 -0.663261 -0.036743 0.713772 
time: 1403638547.077830, t: -1200.228412 270.910041 100.033941 q: -0.292585 0.690400 -0.167480 -0.640072 
time: 1403638549.077830, t: -1346.963712 421.292881 -63.120773 q: -0.234834 0.715092 -0.355547 -0.554151 
time: 1403638551.077830, t: -1360.314620 730.668306 -308.737888 q: -0.130562 0.687395 -0.605497 -0.379231 
time: 1403638553.077830, t: -1397.738485 953.778248 -646.112818 q: -0.118342 -0.617862 0.686272 0.365064 
time: 1403638555.077830, t: -1354.051946 1186.459649 -1047.768138 q: -0.136316 -0.580058 0.774106 0.213800 
time: 1403638557.077830, t: -1311.174525 1369.979628 -1520.623761 q: -0.231952 -0.528831 0.808233 0.115307 
time: 1403638559.077830, t: -1335.730535 1483.887605 -2098.037054 q: -0.344655 -0.444619 0.826484 0.021231 
time: 1403638561.077830, t: -1285.814133 1571.152541 -2718.492892 q: 0.575619 0.131478 -0.805831 -0.044865 
time: 1403638563.077830, t: -1244.457718 1607.759482 -3372.536830 q: 0.694040 -0.167642 -0.694981 -0.084881 
time: 1403638565.077830, t: -1221.242169 1609.658726 -4037.169416 q: 0.808374 -0.239560 -0.537428 -0.017727 
time: 1403638567.077830, t: -1222.359027 1583.698041 -4696.514378 q: 0.857552 -0.258919 -0.444043 0.019773 
time: 1403638569.077830, t: -1308.322109 1536.959514 -5344.919892 q: 0.911589 -0.274208 -0.291958 0.092605 
time: 1403638571.077830, t: -1344.850897 1467.202674 -5982.638205 q: 0.865435 -0.417337 -0.066178 0.269206 
time: 1403638573.077830, t: -1325.147693 1394.316288 -6614.543746 q: 0.690387 -0.651466 0.021617 0.313832 
time: 1403638575.077830, t: -1264.993007 1348.969659 -7255.279704 q: -0.472166 0.780914 -0.214670 -0.348066 
time: 1403638577.077830, t: -1160.117986 1337.607222 -7928.914741 q: -0.438322 0.785479 -0.355330 -0.254239 
time: 1403638579.077830, t: -999.772687 1291.264038 -8681.464460 q: -0.265830 0.769615 -0.577106 -0.063059 
time: 1403638581.077830, t: -742.215772 1688.369015 -9437.502236 q: 0.534773 -0.753238 0.374395 -0.080496 
time: 1403638583.077830, t: -516.174479 1830.725400 -10232.473422 q: -0.481843 0.692981 -0.524269 0.112899 
time: 1403638585.077830, t: -238.449980 1954.269188 -11051.735700 q: 0.438893 -0.588241 0.662776 -0.148572 
time: 1403638587.077830, t: 149.700450 1781.630601 -11919.730030 q: 0.284292 -0.302486 0.884497 -0.212947 
time: 1403638589.077830, t: 490.905639 1699.376652 -12842.313357 q: 0.167756 -0.081631 0.961826 -0.200211 
time: 1403638591.077830, t: 775.033657 1805.016557 -13863.269246 q: 0.178902 0.023390 0.977895 -0.105677 
time: 1403638593.077830, t: 1078.099066 1045.731565 -14946.142128 q: -0.012572 0.260410 0.933209 -0.247286 
time: 1403638595.077830, t: 1301.730237 1959.179404 -16013.822941 q: 0.084565 0.125927 0.923274 -0.352925 
time: 1403638597.077830, t: 1607.135420 1504.144561 -17094.078686 q: -0.138845 0.316045 0.893432 -0.287432 
time: 1403638599.077830, t: 1801.981263 1247.469434 -18202.369187 q: -0.280641 0.481216 0.725553 -0.404035 
time: 1403638601.077830, t: 1948.517447 1026.962851 -19317.916051 q: -0.335723 0.561440 0.572206 -0.494627 
time: 1403638603.077830, t: 2071.597951 862.396696 -20436.575956 q: 0.652651 -0.477084 -0.209940 0.549875 
time: 1403638605.077830, t: 2209.347504 735.757840 -21552.477688 q: 0.634640 -0.444807 -0.088956 0.625672 
time: 1403638607.077830, t: 2379.114031 650.217846 -22675.785039 q: 0.627506 -0.432944 0.084357 0.641622 
time: 1403638609.077830, t: 2588.395679 603.986935 -23825.096534 q: 0.543699 -0.461771 0.304720 0.631114 
time: 1403638611.077830, t: 2840.116793 591.058213 -25024.863613 q: 0.419767 -0.474534 0.469444 0.615009 
time: 1403638613.077830, t: 3185.145528 643.870781 -26254.905276 q: 0.383997 -0.390368 0.636603 0.543044 
time: 1403638617.077830, t: 3804.109119 498.928433 -28937.782772 q: -0.320102 -0.333276 0.425562 0.778048 
time: 1403638619.077830, t: 4086.565142 505.487417 -30428.004953 q: -0.492535 -0.414058 0.411310 0.645593 
time: 1403638621.077830, t: 4321.556352 461.935217 -31991.708954 q: 0.716414 0.383451 -0.307714 -0.495004 
time: 1403638623.077830, t: 4554.312640 921.551431 -33625.032854 q: 0.856829 0.383617 -0.201651 -0.279320 
time: 1403638625.077830, t: 4703.545378 1287.702147 -35256.402822 q: 0.963551 0.263767 -0.003433 0.044556 
time: 1403638627.077830, t: 4917.254308 1179.624818 -36977.270555 q: 0.910026 0.175252 0.014261 0.375415 
time: 1403638629.077830, t: 5035.772017 1712.622729 -38664.714129 q: 0.797583 0.092160 0.044722 0.594448 
time: 1403638631.077830, t: 5404.061992 1666.413186 -40381.741569 q: 0.678095 0.039399 0.073835 0.730194 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720566787.865119536]: Shutdown request received.[0m
[33m[ WARN] [1720566787.865176250]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720566787.865942667]: Shutdown request received.[0m
[33m[ WARN] [1720566787.865971027]: Reason given for shutdown: [user request][0m
killed
