/SLAM-Hive/slam_hive_results/mapping_results/2830/2038_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720468429.739270471]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720468429.740427091]: init begins[0m
[31m[ERROR] [1720468429.741626540]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/cb8ceb3e-3d63-11ef-afd9-0242ac110005/roslaunch-6e3ec572f6c2-118.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://6e3ec572f6c2:38015/[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] [1720468430.845602513]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720468430.846503199]: 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] [1720468430.852551946]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720468430.852757036]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720468430.852791504]: 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] [1720468430.852970595]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720468430.853224515]: 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://6e3ec572f6c2:11311/[0m
]2;roscore http://6e3ec572f6c2:11311/
[1msetting /run_id to cb8ceb3e-3d63-11ef-afd9-0242ac110005[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] [1720468439.858714423]: 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: 316831861.14 
wait for imu ... 
init first imu pose
averge acc 9.910340 -0.410350 -4.054184
init R0 
  0.380285  0.0931361   0.920168
         0  -0.994917   0.100702
   0.92487 -0.0382954  -0.378351
wait for imu ... 
[0m[ INFO] [1720468462.096696892]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468464.055658367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468466.077472853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468468.083980600]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468470.076868127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468472.076995864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468474.082941196]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468478.062197559]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468480.070260880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468482.077926844]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468484.058109925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468486.076768668]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468488.065467214]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468490.062724187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468492.092991883]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468494.060977339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468496.094083148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468498.081059469]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468500.081533515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468502.093120450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468504.079528853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468506.081447280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468508.091939523]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468510.062074227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468512.082623287]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468514.082226533]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468516.058249887]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468518.079671162]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468520.078031019]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468522.078262612]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468524.070378733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468526.076857240]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720468528.068479321]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468530.078477866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468532.076721380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468534.080762314]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468536.080080313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468538.076885721]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468540.092948309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468542.081092575]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468544.054655102]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468546.075743266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468548.089396837]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468550.085926794]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468552.058493515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468554.085384667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468556.079890798]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720468560.099012154]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468562.068602515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468564.066166807]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468566.070324520]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468568.054375211]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468570.061271944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468572.091269894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468574.080664672]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468576.081065768]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468578.077038507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468580.077840779]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468582.061746271]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468584.057193262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468586.079667086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468588.094710818]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468590.065026336]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468592.058090634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468594.080811715]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468596.057486988]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468598.058820998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468600.082738273]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468602.077371445]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468604.058975875]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468606.074573315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468608.101237040]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468610.071630205]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468612.078455109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468614.073706583]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468616.076433131]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468618.076747359]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720468620.052117822]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468622.085260548]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720468624.074381439]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720468628.445356963]: Shutdown request received.[0m
[33m[ WARN] [1720468628.445398733]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720468628.446207147]: Shutdown request received.[0m
[33m[ WARN] [1720468628.446228215]: Reason given for shutdown: [user request][0m
killed
