/SLAM-Hive/slam_hive_results/mapping_results/2825/2033_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720467275.154055824]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720467275.155351674]: init begins[0m
[31m[ERROR] [1720467275.156407986]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1b5db6c8-3d61-11ef-a7cc-0242ac110005/roslaunch-59354abc235c-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://59354abc235c:35159/[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] [1720467276.261995957]: 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] [1720467276.266606527]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720467276.266808541]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720467276.266830740]: ROW: 96 COL: 150 [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] [1720467276.266977056]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720467276.267251040]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://59354abc235c:11311/[0m
]2;roscore http://59354abc235c:11311/
[1msetting /run_id to 1b5db6c8-3d61-11ef-a7cc-0242ac110005[0m
[0m[ INFO] [1720467276.309616194]: Connected to master at [localhost:11311][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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720467285.306506593]: 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: 316830706.59 
wait for imu ... 
wait for imu ... 
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[0m[ INFO] [1720467297.023852599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467298.024109539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467299.018262206]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467300.025542247]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467301.016763446]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467302.006520110]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467303.000900825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467304.022056211]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467305.002340024]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720467307.000597536]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467308.017111679]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467309.007836770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467310.014894627]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467311.014295116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467312.016762649]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467313.002337714]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720467315.013749930]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720467317.017631975]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467318.018375628]: IMU excitation not enouth![0m
[0m[ INFO] [1720467318.018480304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467319.013002522]: IMU excitation not enouth![0m
[0m[ INFO] [1720467319.013162278]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467320.022436182]: IMU excitation not enouth![0m
[0m[ INFO] [1720467320.022575031]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467321.010110738]: IMU excitation not enouth![0m
[0m[ INFO] [1720467321.010263432]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467322.020992940]: IMU excitation not enouth![0m
[0m[ INFO] [1720467322.021095688]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467323.015967747]: IMU excitation not enouth![0m
[0m[ INFO] [1720467323.016181536]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467324.015782812]: IMU excitation not enouth![0m
[0m[ INFO] [1720467324.015901371]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467325.019453743]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467326.013692758]: IMU excitation not enouth![0m
[0m[ INFO] [1720467326.013836919]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467327.017968759]: IMU excitation not enouth![0m
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[0m[ INFO] [1720467328.013961404]: IMU excitation not enouth![0m
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[0m[ INFO] [1720467329.013806519]: IMU excitation not enouth![0m
[0m[ INFO] [1720467329.014028961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467330.013020413]: IMU excitation not enouth![0m
[0m[ INFO] [1720467330.013228882]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467331.016094496]: IMU excitation not enouth![0m
[0m[ INFO] [1720467331.016275019]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467331.999069524]: IMU excitation not enouth![0m
[0m[ INFO] [1720467331.999110128]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467334.015726765]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467335.014712387]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467337.020310113]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467387.007390925]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467412.022013558]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467421.020060887]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467426.023749771]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467428.006326863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467429.008620424]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467431.017531459]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467436.006275108]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467438.021523246]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467438.999961433]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720467441.006273208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467442.034033549]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
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[0m[ INFO] [1720467447.003160451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467448.018160860]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467450.001102685]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467451.012729034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467452.017212296]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467454.018829134]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467456.016179098]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467458.016234551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720467459.007018020]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720467461.014576713]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720467464.015237874]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720467465.996071891]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720467470.009896846]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720467473.910494447]: Shutdown request received.[0m
[33m[ WARN] [1720467473.910548273]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720467473.911517305]: Shutdown request received.[0m
[33m[ WARN] [1720467473.911544646]: Reason given for shutdown: [user request][0m
killed
