/SLAM-Hive/slam_hive_results/mapping_results/2824/2032_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720467045.500278825]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720467045.501128121]: init begins[0m
[31m[ERROR] [1720467045.502140788]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/927ba20c-3d60-11ef-9864-0242ac110005/roslaunch-0fe2ef1e76d8-117.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://0fe2ef1e76d8:40149/[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
[1mROS_MASTER_URI=http://0fe2ef1e76d8:11311/[0m
]2;roscore http://0fe2ef1e76d8:11311/
[1msetting /run_id to 927ba20c-3d60-11ef-9864-0242ac110005[0m
[0m[ INFO] [1720467046.656524000]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720467046.657111474]: 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] [1720467046.664088411]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720467046.664270911]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720467046.664296804]: 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
set g       0       0 9.81007
[0m[ INFO] [1720467046.664487111]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720467046.664764973]: 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 [201][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720467055.640982398]: 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: 316830476.92 
wait for imu ... 
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
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720467067.362005059]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467068.349106983]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467069.354286914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467070.361534293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467071.348700328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467072.350624341]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467073.338254247]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467074.346072143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467075.354310750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467076.356198652]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467077.332566191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467078.355340895]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467079.332805938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467080.362727673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467081.349293930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467082.354066479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467083.348330317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467084.351260923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467085.351809068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467086.357510942]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467087.347982173]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467088.332438026]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467089.344109499]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467090.352285208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467091.352013509]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467092.351996934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467093.349312317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467094.350096815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467095.360195263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467096.351144991]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467097.350470633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467098.347176999]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467099.330943988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467100.356867218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467101.347147896]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467102.350128803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467103.352228263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467104.352313381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467105.357355352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467106.374204459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467107.346006871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467108.352327166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467109.371863964]: 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] [1720467112.381236559]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467113.345166906]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467114.334342151]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720467116.363929516]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467117.335517244]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467118.348898254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467119.350147264]: 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!
wait for imu ... 
[0m[ INFO] [1720467123.354662203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467124.349640638]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720467126.337454532]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
wait for imu ... 
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720467129.352185599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467130.356799400]: 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] [1720467132.357824307]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467133.337359307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467134.349566662]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467135.355484655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467136.349168934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467137.356264127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467138.357518968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467139.371490402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467140.337950937]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467141.348644819]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467142.347719935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467143.351802574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467144.354951332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467145.361083954]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467146.355593937]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467147.348242270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467148.348641586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467149.348042305]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467150.334750651]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467151.333741814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467152.367759968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467153.334543277]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467154.348413863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467155.362007363]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467156.331587457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467157.351019121]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467158.350541195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467159.360549226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467160.339614445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467161.347377863]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467162.331952924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467163.348773061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467164.348377840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467165.350855943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467166.352922527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467167.346508878]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467168.346853499]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467169.352719839]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467170.361527207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467171.358044135]: 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] [1720467174.381475845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467175.348075474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467176.351710836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467177.352167289]: 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!
[0m[ INFO] [1720467179.347502933]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467181.346533724]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467182.344790251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467183.359449457]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467184.332463753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467185.351593919]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467186.361785634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467187.360090843]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467188.331598182]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720467190.349985325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467191.360783305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467192.347522331]: Not enough features or parallax; Move device around[0m
wait for imu ... 
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720467194.349733556]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467195.331437711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467196.354314412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467197.347809218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467198.356318226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467199.370916101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467200.345982669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467201.339619571]: 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] [1720467203.344683138]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467204.371285306]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467205.365392089]: 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!
[0m[ INFO] [1720467207.353394600]: 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] [1720467209.360656845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467210.355040385]: 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!
[33m[ WARN] [1720467212.412998576]: gyroscope bias initial calibration 6.00363e-05   0.0230767   0.0780926[0m
[0m[ INFO] [1720467212.461473093]: Initialization finish![0m
time: 1403636736.263556, t: -3.914226 1.108023 1.078041 q: -0.083901 0.804640 0.119714 0.575486 
time: 1403636737.263556, t: -4.187047 1.364618 1.098910 q: -0.104578 0.797023 0.152444 0.574959 
time: 1403636739.263556, t: -4.397252 1.621370 1.163330 q: -0.010697 0.813678 -0.013080 0.581070 
time: 1403636740.263556, t: -4.319465 1.457640 1.016018 q: 0.080636 0.807290 -0.093081 0.577163 
time: 1403636741.263556, t: -4.357190 1.272629 0.719216 q: 0.083345 0.801307 -0.094710 0.584800 
time: 1403636742.263556, t: -4.334346 1.160065 0.373677 q: 0.073722 0.823439 -0.095044 0.554508 
time: 1403636743.263556, t: -4.203159 1.054606 0.185805 q: 0.062657 0.832750 -0.102402 0.540477 
time: 1403636744.263556, t: -3.829568 0.864368 -0.135806 q: 0.091795 0.801426 -0.131880 0.576106 
time: 1403636745.263556, t: -3.572592 0.648813 -0.795984 q: 0.083573 0.811987 -0.128632 0.563157 
time: 1403636747.263556, t: -3.337753 0.709110 -0.693084 q: 0.099306 0.807109 -0.137233 0.565580 
time: 1403636748.263556, t: -3.069911 0.855054 -0.358733 q: 0.090212 0.800928 -0.170554 0.566822 
time: 1403636749.263556, t: -2.907196 0.920207 -0.107658 q: 0.099793 0.792813 -0.181084 0.573322 
time: 1403636750.263556, t: -2.837016 0.851124 0.070893 q: 0.114651 0.791351 -0.152277 0.580887 
time: 1403636751.263556, t: -2.997771 0.987138 0.601163 q: 0.105537 0.811894 -0.138074 0.557338 
time: 1403636752.263556, t: -2.889460 1.039180 1.023360 q: 0.081148 0.812298 -0.118661 0.565250 
time: 1403636753.263556, t: -2.911178 1.054261 1.319718 q: -0.028444 0.816131 0.080422 0.571536 
time: 1403636754.263556, t: -3.125415 1.244229 1.297849 q: -0.071817 0.798392 0.117172 0.586245 
time: 1403636755.263556, t: -3.483220 1.523595 1.300513 q: -0.119027 0.791997 0.185806 0.569253 
time: 1403636756.263556, t: -3.887985 1.955821 1.300699 q: -0.121491 0.793319 0.182103 0.568087 
time: 1403636757.263556, t: -4.374611 2.360940 1.360894 q: -0.131421 0.789611 0.187124 0.569410 
time: 1403636758.263556, t: -4.937290 2.807381 1.486205 q: -0.157139 0.784610 0.217113 0.559067 
time: 1403636759.263556, t: -5.141911 3.246138 1.442055 q: -0.197522 0.789449 0.186961 0.550274 
time: 1403636760.263556, t: -5.467192 3.422323 1.304359 q: -0.160744 0.790357 0.218718 0.549235 
time: 1403636761.263556, t: -4.820193 3.342901 1.134183 q: -0.148282 0.804986 0.229024 0.526839 
wait for imu ... 
time: 1403636762.263556, t: -4.219528 4.200146 1.437735 q: -0.130624 0.789689 0.233051 0.552283 
wait for imu ... 
time: 1403636763.263556, t: -3.458247 3.033535 1.204646 q: -0.159826 0.793243 0.157867 0.565950 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720467244.244358839]: Shutdown request received.[0m
[33m[ WARN] [1720467244.244399927]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720467244.245386376]: Shutdown request received.[0m
[33m[ WARN] [1720467244.245431313]: Reason given for shutdown: [user request][0m
killed
