/SLAM-Hive/slam_hive_results/mapping_results/2821/2029_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720466357.446647856]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720466357.449306795]: init begins[0m
[31m[ERROR] [1720466357.450434376]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f85dddd0-3d5e-11ef-b0e3-0242ac110005/roslaunch-3186887b8b24-118.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://3186887b8b24:43277/[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] [1720466358.552735819]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720466358.555591817]: 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] [1720466358.561475531]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720466358.561707858]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720466358.561731810]: ROW: 384 COL: 601 [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
set g       0       0 9.81007
[0m[ INFO] [1720466358.561884458]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720466358.562155516]: 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://3186887b8b24:11311/[0m
]2;roscore http://3186887b8b24:11311/
[1msetting /run_id to f85dddd0-3d5e-11ef-b0e3-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720466367.568758129]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316829788.85 
init first imu pose
averge acc 8.893766 -0.424314 -3.324727
init R0 
  0.352648   0.118464   0.928227
         0  -0.991954   0.126597
  0.935756 -0.0446441  -0.349811
[0m[ INFO] [1720466379.314396615]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466380.307774974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466381.292460789]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466382.303564481]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466383.277488964]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466384.279539124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466385.283629418]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466386.313927127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466387.300827782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466388.312004346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466389.320995394]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466392.313807554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466393.306773091]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466394.312405639]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466395.277130795]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466397.301135711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466398.315231541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466399.308593846]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466406.265770693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466407.295571961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466408.273538761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466409.289955402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466411.281412843]: IMU excitation not enouth![0m
[0m[ INFO] [1720466411.282218656]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466412.294717458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466413.297947591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466414.295388505]: IMU excitation not enouth![0m
[0m[ INFO] [1720466415.295497318]: IMU excitation not enouth![0m
[0m[ INFO] [1720466416.292790990]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466419.322581289]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466436.298576308]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466438.294102490]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466442.298631324]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466449.308571451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466450.275857013]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466454.292083715]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466455.287877044]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466459.308213806]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466460.298131360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466461.267297578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466462.297923238]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466467.311092778]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466468.274679123]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466478.305860529]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466480.302622272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466481.298984724]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466488.290746205]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0708 19:21:39.378979   182 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 19:21:39.382010   182 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 19:21:39.384410   182 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 19:21:39.385234   182 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720466499.386993533]: gyroscope bias initial calibration -0.0063019  0.0206648  0.0776162[0m
[0m[ INFO] [1720466499.443642482]: Initialization finish![0m
time: 1403636710.263556, t: 4.936800 -1.536852 -1.015908 q: 0.080829 0.809154 -0.075082 0.577148 
time: 1403636711.263556, t: 5.558746 -1.152856 -1.243886 q: 0.008826 0.809838 0.029766 0.585832 
time: 1403636712.263556, t: 5.636110 -0.668930 -1.136488 q: -0.017093 0.805126 0.013120 0.592712 
time: 1403636713.263556, t: 5.279163 -0.216574 -0.869472 q: -0.051047 0.801467 0.074349 0.591200 
time: 1403636714.263556, t: 4.532808 0.046290 -0.589799 q: -0.052900 0.810689 0.056552 0.580333 
time: 1403636715.263556, t: 3.968922 0.089201 -0.480364 q: -0.117401 0.808967 0.181848 0.546553 
time: 1403636716.263556, t: 3.642201 0.077717 -0.387233 q: -0.131985 0.791495 0.169635 0.572137 
time: 1403636717.263556, t: 3.174061 -0.104525 -0.379027 q: -0.181695 0.771566 0.260690 0.551103 
time: 1403636718.263556, t: 2.609792 -0.174623 -0.389375 q: -0.226565 0.743883 0.335339 0.531841 
time: 1403636719.263556, t: 1.982993 -0.055703 -0.528886 q: -0.280137 0.708953 0.389025 0.517270 
time: 1403636720.263556, t: 1.484654 -0.138144 -0.609917 q: -0.274501 0.727440 0.373287 0.506101 
time: 1403636721.263556, t: 1.206275 -0.244212 -0.679438 q: -0.248865 0.746072 0.320455 0.527970 
time: 1403636722.263556, t: 0.882051 -0.542779 -0.717807 q: -0.208895 0.760050 0.292611 0.541355 
time: 1403636723.263556, t: 0.575467 -0.738188 -0.698069 q: -0.203046 0.766148 0.279688 0.541816 
time: 1403636724.263556, t: 0.207118 -0.889502 -0.733923 q: -0.151333 0.797820 0.211988 0.543731 
time: 1403636725.263556, t: 0.041044 -0.924410 -0.540593 q: -0.127704 0.805367 0.155873 0.557475 
time: 1403636726.263556, t: -0.079429 -0.946724 -0.440262 q: -0.121997 0.801288 0.164163 0.562232 
time: 1403636727.263556, t: -0.252000 -1.044779 -0.248627 q: -0.123538 0.791608 0.182828 0.569797 
time: 1403636728.263556, t: -0.484830 -1.067735 -0.002516 q: -0.122373 0.790226 0.180119 0.572822 
time: 1403636729.263556, t: -0.966002 -1.096430 0.088944 q: -0.161442 0.775882 0.232689 0.563738 
time: 1403636730.263556, t: -1.535584 -1.136807 0.126362 q: -0.164344 0.784276 0.236296 0.549605 
time: 1403636731.263556, t: -1.936940 -1.083604 0.212734 q: -0.185852 0.785198 0.220248 0.548100 
time: 1403636732.263556, t: -2.079448 -1.123922 0.077262 q: -0.172285 0.778034 0.231512 0.558017 
time: 1403636733.263556, t: -2.422093 -1.232862 0.106609 q: -0.162460 0.771557 0.244907 0.564205 
time: 1403636734.263556, t: -3.013754 -1.262870 0.253516 q: -0.169426 0.775785 0.242730 0.557256 
time: 1403636735.263556, t: -3.556561 -1.238413 0.331354 q: -0.176534 0.785515 0.245632 0.539876 
time: 1403636736.263556, t: -3.879508 -1.148071 0.553481 q: -0.185659 0.774552 0.253409 0.548985 
time: 1403636737.263556, t: -4.248195 -1.042537 0.591382 q: -0.208233 0.760909 0.286173 0.543840 
time: 1403636738.263556, t: -4.627091 -0.923815 0.753258 q: -0.213668 0.769994 0.284110 0.529846 
time: 1403636739.263556, t: -4.634511 -0.974585 0.743914 q: -0.119241 0.806977 0.130424 0.563524 
time: 1403636740.263556, t: -4.498670 -1.158472 0.584263 q: -0.030640 0.815292 0.052941 0.575810 
time: 1403636741.263556, t: -4.399716 -1.266930 0.246009 q: -0.031623 0.808544 0.051306 0.585341 
time: 1403636742.263556, t: -4.397896 -1.347953 -0.111236 q: -0.030572 0.828258 0.048315 0.557422 
time: 1403636743.263556, t: -4.243717 -1.365268 -0.310017 q: -0.033634 0.838075 0.037725 0.543208 
time: 1403636744.263556, t: -3.821866 -1.410728 -0.640399 q: -0.009122 0.811972 0.001777 0.583622 
time: 1403636745.263556, t: -3.514805 -1.514011 -1.298154 q: -0.014251 0.821663 0.006173 0.569761 
time: 1403636746.263556, t: -3.339183 -1.582819 -1.302600 q: 0.025126 0.806788 -0.004278 0.590291 
time: 1403636747.263556, t: -3.323523 -1.385510 -1.191265 q: 0.001790 0.818316 -0.003453 0.574755 
time: 1403636748.263556, t: -3.138110 -1.175056 -0.911386 q: -0.007170 0.817520 -0.037234 0.574651 
time: 1403636749.263556, t: -2.946757 -1.084219 -0.701463 q: 0.000867 0.811294 -0.049095 0.582573 
time: 1403636750.263556, t: -2.918328 -1.126083 -0.507866 q: 0.014112 0.805081 -0.021034 0.592624 
time: 1403636751.263556, t: -3.122708 -1.050098 -0.024566 q: 0.009365 0.823079 -0.003703 0.567837 
time: 1403636752.263556, t: -3.195815 -0.989627 0.384782 q: -0.015907 0.819956 0.015583 0.571993 
time: 1403636753.263556, t: -3.202660 -0.995600 0.638623 q: -0.124651 0.790700 0.212499 0.560446 
time: 1403636754.263556, t: -3.327821 -0.857911 0.650084 q: -0.168617 0.767960 0.244809 0.567340 
time: 1403636755.263556, t: -3.785215 -0.698892 0.676326 q: -0.211516 0.750729 0.310950 0.543119 
time: 1403636756.263556, t: -4.295018 -0.416381 0.730504 q: -0.212159 0.753561 0.306126 0.541684 
time: 1403636757.263556, t: -4.948173 -0.183694 0.785615 q: -0.221561 0.749069 0.310204 0.541830 
time: 1403636758.263556, t: -5.618025 0.053021 0.903153 q: -0.244394 0.739708 0.338617 0.527676 
time: 1403636759.263556, t: -6.031481 0.370500 0.835293 q: -0.282960 0.749169 0.309625 0.512652 
time: 1403636760.263556, t: -6.318997 0.397551 0.698358 q: -0.245258 0.745764 0.340249 0.517605 
time: 1403636761.263556, t: -6.452301 0.361403 0.563335 q: -0.231323 0.756928 0.354144 0.498129 
time: 1403636762.263556, t: -6.648614 0.427648 0.587091 q: -0.221039 0.740191 0.355536 0.526169 
time: 1403636763.263556, t: -6.584411 0.469650 0.490236 q: -0.249196 0.755951 0.281450 0.535934 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720466556.195072771]: Shutdown request received.[0m
[33m[ WARN] [1720466556.195109666]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720466556.196007793]: Shutdown request received.[0m
[33m[ WARN] [1720466556.196035372]: Reason given for shutdown: [user request][0m
killed
