/SLAM-Hive/slam_hive_results/mapping_results/2852/2060_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720472837.862750824]: init begins[0m
[31m[ERROR] [1720472837.863902066]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720472837.864606544]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0f003c72-3d6e-11ef-9405-0242ac110005/roslaunch-9f18327f5268-118.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://9f18327f5268:35193/[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] [1720472838.970485582]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720472838.971039404]: 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] [1720472838.976987739]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720472838.977198064]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720472838.977224817]: ROW: 288 COL: 451 [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] [1720472838.977400758]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720472838.977650966]: 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://9f18327f5268:11311/[0m
]2;roscore http://9f18327f5268:11311/
[1msetting /run_id to 0f003c72-3d6e-11ef-9405-0242ac110005[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_02_easy.bag  --clock 
[0m[ INFO] [1720472848.012819192]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316835991.38 
init first imu pose
averge acc 9.530741 -0.420674 -3.109175
init R0 
  0.312691   0.127356   0.941278
         0  -0.990971   0.134079
  0.949855 -0.0419253  -0.309867
wait for imu ... 
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720472861.721039524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472862.708653810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472863.716403819]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472864.682592048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472865.718497829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472866.706891552]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720472867.686517565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472868.711060628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472869.724155171]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472870.721882925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472871.714207041]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472872.718801028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472873.719922519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472874.721648962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472875.691959635]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472876.720016109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472877.743805401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472878.741402496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472879.696081520]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472880.738692032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472881.712410237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472882.721658933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472883.706056845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472884.725053494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472885.746792384]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472886.701816880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472887.722862405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472888.739064732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472889.707767120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472890.711626685]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720472892.713755647]: 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 ... 
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!
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] [1720472915.783493890]: gyroscope bias initial calibration -0.000697518    0.0225687    0.0771567[0m
[0m[ INFO] [1720472915.836466158]: Initialization finish![0m
time: 1403636925.151666, t: 1.095225 -2.318458 -0.023356 q: 0.177578 0.765896 -0.270107 0.555798 
time: 1403636926.151666, t: 1.447564 -2.852788 -0.162569 q: 0.203091 0.764564 -0.270813 0.548504 
time: 1403636927.151666, t: 1.797038 -3.326667 -0.254350 q: 0.206315 0.749988 -0.325193 0.537774 
time: 1403636928.151666, t: 1.976233 -3.968511 -0.372774 q: 0.262135 0.736868 -0.386037 0.489168 
time: 1403636929.151666, t: 2.362030 -4.749136 -0.392137 q: 0.261414 0.716951 -0.376572 0.525203 
time: 1403636930.151666, t: 2.576216 -5.390625 -0.290123 q: 0.257078 0.722624 -0.371483 0.523188 
time: 1403636931.151666, t: 2.487959 -5.766137 -0.213306 q: 0.260113 0.704672 -0.396156 0.528052 
time: 1403636932.151666, t: 2.143996 -5.934133 -0.167535 q: 0.292970 0.701294 -0.403238 0.509662 
wait for imu ... 
time: 1403636933.151666, t: 1.806738 -5.536963 -0.044871 q: 0.339765 0.665827 -0.461970 0.477301 
time: 1403636934.151666, t: 1.604209 -5.084406 -0.098925 q: 0.351127 0.644134 -0.494665 0.465948 
time: 1403636935.151666, t: 1.306820 -4.598943 -0.079725 q: -0.425416 -0.550150 0.606212 -0.385828 
time: 1403636936.151666, t: 0.927481 -4.138330 -0.055134 q: -0.392766 -0.572318 0.611340 -0.380067 
time: 1403636937.151666, t: 0.485794 -3.981492 -0.120910 q: -0.423401 -0.555549 0.600267 -0.389584 
time: 1403636938.151666, t: 0.295225 -4.121721 -0.219543 q: -0.455839 -0.542384 0.587174 -0.391481 
time: 1403636939.151666, t: 0.038462 -3.812393 -0.309088 q: -0.428566 -0.530414 0.624898 -0.380125 
time: 1403636940.151666, t: -0.425890 -3.367167 -0.365297 q: -0.436307 -0.516998 0.623930 -0.391230 
time: 1403636941.151666, t: -0.982876 -2.753280 -0.432693 q: -0.439396 -0.514505 0.642073 -0.360498 
time: 1403636942.151666, t: -1.535110 -2.235812 -0.349414 q: -0.434182 -0.520722 0.631341 -0.376489 
time: 1403636943.151666, t: -2.142538 -1.748868 -0.374959 q: -0.443324 -0.511022 0.636356 -0.370636 
time: 1403636944.151666, t: -2.673251 -1.276694 -0.541468 q: -0.415705 -0.538432 0.641839 -0.354009 
time: 1403636945.151666, t: -3.013062 -1.091041 -0.542128 q: -0.432790 -0.550054 0.598110 -0.390382 
time: 1403636946.151666, t: -3.081700 -0.819035 -0.588776 q: -0.427075 -0.551280 0.610217 -0.375942 
time: 1403636947.151666, t: -2.953291 -0.621351 -0.924219 q: -0.400768 -0.519942 0.638664 -0.401438 
time: 1403636948.151666, t: -3.160885 -0.678907 -1.040544 q: -0.422766 -0.555307 0.621983 -0.355022 
time: 1403636949.151666, t: -2.965376 -1.141270 -1.218317 q: -0.427467 -0.544255 0.600667 -0.400322 
time: 1403636950.151666, t: -2.611970 -1.460425 -1.328440 q: -0.398259 -0.558021 0.617718 -0.385261 
time: 1403636951.151666, t: -2.346572 -1.863691 -1.346601 q: -0.415055 -0.548988 0.603825 -0.402166 
time: 1403636952.151666, t: -2.072029 -2.298434 -1.322955 q: -0.428140 -0.560655 0.596529 -0.382774 
time: 1403636953.151666, t: -1.734629 -2.709410 -1.475489 q: -0.401760 -0.552474 0.614508 -0.394641 
time: 1403636954.151666, t: -1.483635 -3.174409 -1.510520 q: -0.416135 -0.567873 0.598430 -0.382404 
time: 1403636955.151666, t: -1.025573 -3.821903 -1.531465 q: -0.434865 -0.546562 0.607529 -0.378246 
time: 1403636956.151666, t: -0.409450 -4.436163 -1.567774 q: -0.425895 -0.515209 0.634741 -0.387656 
time: 1403636957.151666, t: 0.078159 -4.792065 -1.568102 q: 0.379546 0.608779 -0.540390 0.439672 
time: 1403636958.151666, t: 0.434582 -4.919215 -1.634239 q: 0.264638 0.713651 -0.400913 0.509841 
time: 1403636959.151666, t: 0.542281 -5.019471 -1.551650 q: 0.233425 0.748651 -0.339896 0.519139 
time: 1403636960.151666, t: 0.871558 -5.471355 -1.723932 q: 0.244352 0.741919 -0.349052 0.517698 
time: 1403636961.151666, t: 1.225696 -5.394561 -1.844706 q: 0.188646 0.769317 -0.269700 0.547563 
time: 1403636962.151666, t: 1.521331 -5.199509 -1.655705 q: 0.070260 0.809543 -0.098829 0.574401 
time: 1403636963.151666, t: 1.642937 -4.849360 -1.387329 q: -0.020857 0.802173 0.048660 0.594740 
time: 1403636964.151666, t: 1.595002 -4.365466 -1.274002 q: -0.007948 0.809996 0.023589 0.585907 
time: 1403636965.151666, t: 1.248777 -3.735828 -1.181792 q: -0.067028 0.797295 0.129435 0.585725 
time: 1403636966.151666, t: 0.880791 -2.851015 -0.775713 q: -0.088447 0.796556 0.141417 0.581100 
time: 1403636967.151666, t: 0.387601 -2.160519 -0.745037 q: -0.090957 0.796544 0.119444 0.585642 
time: 1403636968.151666, t: -0.172373 -1.781691 -0.912583 q: -0.084326 0.793918 0.118230 0.590428 
time: 1403636969.151666, t: -1.152682 -1.396612 -0.961136 q: -0.083348 0.800081 0.117301 0.582378 
time: 1403636970.151666, t: -2.078312 -0.960336 -0.815925 q: -0.078795 0.806845 0.115576 0.573964 
time: 1403636971.151666, t: -2.745431 -0.409215 -0.805372 q: -0.096406 0.827551 0.110897 0.541818 
time: 1403636972.151666, t: -2.975306 -0.094591 -0.991592 q: -0.098331 0.801755 0.115274 0.578128 
time: 1403636973.151666, t: -3.003154 -0.171158 -0.974557 q: -0.074111 0.815066 0.096968 0.566367 
time: 1403636974.151666, t: -3.170011 -0.126718 -1.099815 q: -0.052063 0.816386 0.059867 0.572031 
time: 1403636976.151666, t: -3.106126 -0.213609 -1.286015 q: 0.128467 0.788618 -0.217705 0.560520 
time: 1403636977.151666, t: -3.126885 -0.426695 -1.528918 q: 0.206933 0.754856 -0.336252 0.523742 
time: 1403636978.151666, t: -3.221097 -0.843181 -1.644222 q: 0.216232 0.746130 -0.330764 0.535844 
time: 1403636979.151666, t: -3.292440 -1.328200 -1.681818 q: 0.230978 0.747196 -0.329176 0.529141 
time: 1403636980.151666, t: -2.964233 -1.924395 -1.759022 q: 0.235976 0.751247 -0.336181 0.516648 
time: 1403636981.151666, t: -2.492100 -2.449031 -1.874750 q: 0.231784 0.747766 -0.334576 0.524576 
time: 1403636982.151666, t: -2.054993 -2.975873 -1.940566 q: 0.229778 0.763804 -0.356663 0.486413 
time: 1403636983.151666, t: -1.453468 -3.560896 -1.896119 q: 0.233877 0.745443 -0.345268 0.520005 
time: 1403636984.151666, t: -0.830420 -4.240823 -1.930883 q: 0.243317 0.753306 -0.352620 0.498986 
time: 1403636985.151666, t: -0.041364 -4.814276 -1.904540 q: 0.247880 0.739246 -0.354353 0.516240 
time: 1403636986.151666, t: 0.902905 -5.232078 -1.941239 q: 0.252219 0.735729 -0.300937 0.551838 
time: 1403636987.151666, t: 1.632222 -5.075468 -1.902391 q: 0.223519 0.747830 -0.323598 0.534858 
time: 1403636988.151666, t: 2.134409 -4.788989 -1.771389 q: 0.202332 0.746544 -0.320698 0.546706 
time: 1403636989.151666, t: 1.920773 -4.391550 -1.623317 q: 0.203242 0.719308 -0.321766 0.581168 
time: 1403636990.151666, t: 1.065974 -3.972283 -1.486931 q: 0.224590 0.742253 -0.312707 0.548483 
time: 1403636991.151666, t: 0.181223 -3.421384 -1.408478 q: 0.218857 0.758116 -0.306345 0.532461 
time: 1403636992.151666, t: -0.503894 -2.891453 -1.266155 q: 0.221662 0.749095 -0.325687 0.532588 
time: 1403636993.151666, t: -1.066973 -2.470158 -1.194412 q: 0.234725 0.745849 -0.331649 0.527847 
time: 1403636994.151666, t: -1.512082 -2.001640 -1.047780 q: 0.173624 0.770376 -0.233920 0.567147 
time: 1403636995.151666, t: -2.102150 -1.397702 -1.030990 q: 0.159085 0.768963 -0.247210 0.567693 
time: 1403636996.151666, t: -2.892358 -0.796826 -0.855458 q: 0.153788 0.780195 -0.247662 0.553451 
time: 1403636997.151666, t: -3.626334 -0.350907 -0.727542 q: 0.074313 0.814891 -0.121865 0.561764 
time: 1403636998.151666, t: -4.072947 -0.030899 -0.602873 q: 0.067948 0.820274 -0.104887 0.558151 
time: 1403636999.151666, t: -4.148723 0.144506 -0.302895 q: 0.091234 0.802851 -0.100486 0.580525 
time: 1403637000.151666, t: -4.356744 0.503813 -0.279832 q: 0.088373 0.802257 -0.106473 0.580722 
time: 1403637001.151666, t: -4.756335 1.066137 -0.196847 q: 0.084261 0.801917 -0.112037 0.580756 
time: 1403637002.151666, t: -5.286706 1.652381 -0.092287 q: 0.081046 0.808430 -0.120915 0.570309 
time: 1403637003.151666, t: -5.724551 2.179900 -0.057655 q: 0.087486 0.807861 -0.123577 0.569592 
time: 1403637004.151666, t: -6.135370 2.706219 -0.045875 q: 0.087556 0.811906 -0.123306 0.563860 
time: 1403637005.151666, t: -6.448666 3.110299 -0.013833 q: 0.083169 0.808202 -0.142397 0.565346 
time: 1403637006.151666, t: -6.696042 3.302206 -0.073355 q: 0.083450 0.807272 -0.130881 0.569402 
time: 1403637007.151666, t: -6.785382 3.359770 -0.139486 q: 0.027555 0.815401 -0.046945 0.576331 
time: 1403637008.151666, t: -6.914836 3.478975 -0.236239 q: 0.018129 0.820107 -0.032180 0.571016 
time: 1403637009.151666, t: -6.891859 3.537781 -0.283196 q: 0.018506 0.819715 -0.051975 0.570109 
time: 1403637010.151666, t: -6.906395 3.509654 -0.359594 q: -0.015512 0.788972 -0.046181 0.612495 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720473002.524326519]: Shutdown request received.[0m
[33m[ WARN] [1720473002.524367519]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720473002.525423545]: Shutdown request received.[0m
[33m[ WARN] [1720473002.525451956]: Reason given for shutdown: [user request][0m
killed
