/SLAM-Hive/slam_hive_results/mapping_results/2823/2031_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-21.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720466815.605742309]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720466815.607382530]: init begins[0m
[31m[ERROR] [1720466815.608449522]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0973a0e0-3d60-11ef-b94e-0242ac110005/roslaunch-52f1099a091f-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://52f1099a091f:40467/[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] [1720466816.712558101]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720466816.713388927]: 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] [1720466816.719276018]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720466816.719469911]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720466816.719496981]: 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
set g       0       0 9.81007
[0m[ INFO] [1720466816.719680431]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720466816.719956615]: 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://52f1099a091f:11311/[0m
]2;roscore http://52f1099a091f:11311/
[1msetting /run_id to 0973a0e0-3d60-11ef-b94e-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] [1720466825.732392010]: 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: 316830247.02 
init first imu pose
averge acc 8.893766 -0.424314 -3.324727
init R0 
[0m[ INFO] [1720466837.465479903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466838.440283689]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466839.453798855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466840.449365326]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466841.454649615]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466842.456712540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466843.444813454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466844.462743830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466845.437261187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466846.464040902]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466847.439706950]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466848.456008409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466849.444327782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466850.455778443]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466851.443780235]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466852.454010701]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466853.435673874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466854.450780472]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466855.431670620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466856.455299065]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466857.437345146]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466858.449276296]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466859.454089771]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466860.451165161]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466861.447471032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466862.449269303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466863.429699193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466864.446613773]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466865.458073486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466866.428147275]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466867.452452635]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466868.433474516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466869.446961613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466870.452993898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466871.447997820]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466872.447816688]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466873.448133005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466874.450803356]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466876.486104613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466877.440105495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466878.437111894]: 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] [1720466883.478334289]: 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!
[0m[ INFO] [1720466886.484426299]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466887.466485106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466888.449579829]: 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!
wait for imu ... 
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] [1720466894.450622005]: 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!
[0m[ INFO] [1720466896.449996508]: 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] [1720466899.476021885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466900.454088230]: Not enough features or parallax; Move device around[0m
wait for imu ... 
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] [1720466902.470900822]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466903.439282658]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466905.459466773]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466906.427846614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466907.454127992]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466908.455747495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466909.488699940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466910.455453399]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466911.428868611]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466912.427987765]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466913.427950675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466914.463632391]: 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!
[0m[ INFO] [1720466917.443085960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466918.449275353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466919.451226094]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466920.446702620]: 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!
[0m[ INFO] [1720466923.424977177]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466924.459467464]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466925.468054828]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466926.446292367]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466927.442202675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466928.475105754]: 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!
wait for imu ... 
[0m[ INFO] [1720466934.429137201]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466935.445332299]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466936.448967086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466937.427248792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466938.447215742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466939.448434761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466940.461959951]: Not enough features or parallax; Move device around[0m
wait for imu ... 
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!
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466946.428994940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466947.449169078]: 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] [1720466953.455388368]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466954.455714397]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466956.444380899]: 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] [1720466958.462332250]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466960.467723790]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466961.466389437]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466962.432530541]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466964.430695657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466965.444531379]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466966.453122099]: Not enough features or parallax; Move device around[0m
wait for imu ... 
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] [1720466970.443201606]: 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!
[33m[ WARN] [1720466979.484040814]: gyroscope bias initial calibration -0.00207198   0.0219221   0.0783475[0m
[0m[ INFO] [1720466979.534819068]: Initialization finish![0m
time: 1403636732.263556, t: -2.439251 1.608291 0.691216 q: 0.053729 0.807252 -0.072122 0.583314 
time: 1403636733.263556, t: -2.837171 1.809797 0.763779 q: 0.066402 0.806500 -0.058009 0.584623 
time: 1403636734.263556, t: -3.352860 2.247233 0.917912 q: 0.061161 0.809925 -0.063972 0.579818 
time: 1403636735.263556, t: -3.737190 2.684711 0.990036 q: 0.049955 0.820248 -0.066389 0.565941 
time: 1403636736.263556, t: -3.956306 3.017757 1.232254 q: 0.044917 0.812953 -0.054922 0.577990 
time: 1403636737.263556, t: -4.091651 3.338085 1.234951 q: 0.022763 0.812873 -0.020099 0.581649 
time: 1403636738.263556, t: -4.229152 3.663465 1.377329 q: 0.013212 0.820196 -0.026121 0.571333 
time: 1403636739.263556, t: -4.210296 3.642037 1.340996 q: 0.115182 0.794094 -0.183529 0.567859 
time: 1403636740.263556, t: -4.289345 3.431618 1.192672 q: 0.201764 0.771045 -0.258617 0.545800 
time: 1403636741.263556, t: -4.372142 3.274934 0.876588 q: 0.202033 0.765586 -0.255933 0.554580 
time: 1403636742.263556, t: -4.409501 3.146502 0.558041 q: 0.182405 0.787529 -0.258833 0.528709 
time: 1403636743.263556, t: -4.333465 3.010595 0.360420 q: 0.168132 0.795184 -0.267546 0.517526 
time: 1403636744.263556, t: -4.063784 2.689799 0.032621 q: 0.204474 0.758213 -0.290800 0.546571 
time: 1403636745.263556, t: -3.905529 2.410392 -0.611564 q: 0.194615 0.768765 -0.290325 0.535572 
time: 1403636746.263556, t: -3.836064 2.250305 -0.619358 q: 0.239009 0.750915 -0.294944 0.540378 
time: 1403636747.263556, t: -3.686066 2.378523 -0.510115 q: 0.211457 0.762163 -0.298509 0.534122 
time: 1403636748.263556, t: -3.362805 2.387966 -0.204967 q: 0.203036 0.749510 -0.329896 0.536823 
time: 1403636749.263556, t: -3.140643 2.314456 0.022864 q: 0.213424 0.739478 -0.338787 0.541153 
time: 1403636750.263556, t: -3.148238 2.289531 0.202916 q: 0.229875 0.743473 -0.310579 0.545845 
time: 1403636751.263556, t: -3.239978 2.459952 0.714372 q: 0.215801 0.766555 -0.300673 0.524804 
time: 1403636752.263556, t: -3.265673 2.570493 1.144164 q: 0.193571 0.770537 -0.281388 0.538168 
wait for imu ... 
time: 1403636753.263556, t: -3.269081 2.570300 1.424274 q: 0.087954 0.814783 -0.087519 0.566332 
time: 1403636754.263556, t: -3.270081 2.777010 1.455098 q: 0.049366 0.805318 -0.048920 0.588755 
time: 1403636755.263556, t: -3.467403 3.199251 1.454418 q: 0.000031 0.813088 0.019704 0.581807 
time: 1403636756.263556, t: -3.764944 3.811958 1.482495 q: -0.002529 0.813580 0.015813 0.581233 
time: 1403636757.263556, t: -4.132730 4.523053 1.533076 q: -0.011812 0.810666 0.022008 0.584976 
time: 1403636758.263556, t: -4.532172 5.312264 1.682004 q: -0.038443 0.812045 0.052012 0.580000 
time: 1403636760.263556, t: -4.698443 6.029363 1.477857 q: -0.043890 0.818391 0.051303 0.570683 
time: 1403636761.263556, t: -4.742145 6.063278 1.344701 q: -0.038008 0.833832 0.060197 0.547409 
time: 1403636762.263556, t: -4.932603 6.171491 1.344736 q: -0.018833 0.818257 0.067890 0.570519 
time: 1403636763.263556, t: -4.896202 6.196417 1.211982 q: -0.041504 0.806468 -0.006734 0.589781 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720467014.371852952]: Shutdown request received.[0m
[33m[ WARN] [1720467014.371897722]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720467014.372818264]: Shutdown request received.[0m
[33m[ WARN] [1720467014.372848026]: Reason given for shutdown: [user request][0m
killed
