/SLAM-Hive/slam_hive_results/mapping_results/2853/2061_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-21.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720473030.877850980]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720473030.879513468]: init begins[0m
[31m[ERROR] [1720473030.880556527]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/820ad5ec-3d6e-11ef-b90d-0242ac110005/roslaunch-9fa09d8e72c1-118.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://9fa09d8e72c1:45453/[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] [1720473031.985000455]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720473031.985875424]: 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] [1720473031.991618986]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720473031.991800256]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720473031.991825180]: 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] [1720473031.992009234]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720473031.992257546]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://9fa09d8e72c1:11311/[0m
]2;roscore http://9fa09d8e72c1:11311/
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1msetting /run_id to 820ad5ec-3d6e-11ef-b90d-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] [1720473041.021911655]: 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: 316836184.39 
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] [1720473054.719796302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473055.713333347]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473056.716577029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473057.715985053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473058.716733439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473059.716647067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473060.714154649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473061.705194630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473062.724244810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473063.725549707]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473064.714793745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473065.725074649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473066.721890327]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473067.723987388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473068.711802380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473069.709977718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473070.724740170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473071.722330516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473072.714074947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473073.698772999]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473074.716861725]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473075.713598821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473076.712056510]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473077.723895050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473078.725879749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473079.724563828]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473080.713136124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473081.721827775]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473082.713982579]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473083.717197025]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473084.693115119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473085.711917977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473086.724074332]: 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!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720473095.697940224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473096.725714260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473097.728490957]: 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!
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!
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!
[33m[ WARN] [1720473108.709475962]: gyroscope bias initial calibration -0.000896295    0.0232613    0.0772099[0m
[0m[ INFO] [1720473108.760869237]: Initialization finish![0m
time: 1403636924.151666, t: 0.753568 -1.882528 0.014190 q: 0.182323 0.794885 -0.253963 0.520018 
time: 1403636925.151666, t: 1.056590 -2.226701 -0.055510 q: 0.173720 0.766789 -0.268455 0.556585 
time: 1403636926.151666, t: 1.427537 -2.766340 -0.213775 q: 0.196836 0.766043 -0.267673 0.550258 
time: 1403636927.151666, t: 1.787830 -3.246870 -0.313830 q: 0.199578 0.751866 -0.321732 0.539773 
time: 1403636928.151666, t: 1.980468 -3.900340 -0.423201 q: 0.256671 0.738964 -0.383427 0.490955 
time: 1403636929.151666, t: 2.366102 -4.722236 -0.435475 q: 0.257722 0.718093 -0.375107 0.526513 
time: 1403636930.151666, t: 2.554132 -5.350037 -0.316524 q: 0.255405 0.722965 -0.371275 0.523683 
time: 1403636931.151666, t: 2.479758 -5.772703 -0.244897 q: 0.258632 0.704836 -0.396187 0.528537 
time: 1403636932.151666, t: 2.100833 -5.906241 -0.203051 q: 0.291566 0.701324 -0.403168 0.510479 
time: 1403636933.151666, t: 1.768471 -5.515772 -0.080686 q: 0.338592 0.665772 -0.461745 0.478430 
time: 1403636934.151666, t: 1.563877 -5.035670 -0.128032 q: 0.350750 0.643661 -0.494423 0.467142 
time: 1403636935.151666, t: 1.270689 -4.530145 -0.112853 q: -0.424930 -0.549911 0.606155 -0.386793 
time: 1403636936.151666, t: 0.906350 -4.074782 -0.086655 q: -0.392752 -0.571868 0.611413 -0.380639 
time: 1403636937.151666, t: 0.473724 -3.921676 -0.138482 q: -0.423411 -0.555052 0.600392 -0.390088 
time: 1403636938.151666, t: 0.241764 -3.991113 -0.247198 q: -0.456356 -0.541394 0.587356 -0.391975 
time: 1403636939.151666, t: -0.050960 -3.632038 -0.340209 q: -0.429165 -0.529138 0.625419 -0.380369 
time: 1403636940.151666, t: -0.534014 -3.174543 -0.388310 q: -0.436634 -0.515999 0.624293 -0.391605 
time: 1403636941.151666, t: -1.121442 -2.525380 -0.451294 q: -0.439620 -0.513595 0.642376 -0.360980 
time: 1403636942.151666, t: -1.694163 -1.926867 -0.333462 q: -0.434888 -0.519459 0.631749 -0.376733 
time: 1403636943.151666, t: -2.289142 -1.397780 -0.339649 q: -0.444155 -0.509765 0.636626 -0.370908 
time: 1403636944.151666, t: -2.848409 -0.846545 -0.500989 q: -0.416577 -0.537066 0.642259 -0.354298 
time: 1403636945.151666, t: -3.181752 -0.622763 -0.449181 q: -0.434010 -0.548580 0.598783 -0.390069 
time: 1403636946.151666, t: -3.157700 -0.497041 -0.505687 q: -0.428457 -0.549821 0.611147 -0.374995 
time: 1403636947.151666, t: -3.051352 -0.345363 -0.882300 q: -0.402111 -0.518294 0.639889 -0.400276 
time: 1403636948.151666, t: -3.300688 -0.357724 -1.006461 q: -0.424003 -0.553847 0.623000 -0.354042 
time: 1403636949.151666, t: -3.078593 -0.844915 -1.175615 q: -0.428843 -0.542668 0.601827 -0.399260 
time: 1403636950.151666, t: -2.714789 -1.176834 -1.295970 q: -0.399680 -0.556440 0.618757 -0.384407 
time: 1403636951.151666, t: -2.463433 -1.583180 -1.321834 q: -0.416412 -0.547409 0.604903 -0.401294 
wait for imu ... 
time: 1403636952.151666, t: -2.167278 -1.997201 -1.266147 q: -0.429495 -0.559077 0.597368 -0.382254 
time: 1403636953.151666, t: -1.853193 -2.374937 -1.432198 q: -0.402956 -0.550795 0.615211 -0.394673 
time: 1403636954.151666, t: -1.598270 -2.719858 -1.359431 q: -0.417490 -0.566047 0.599182 -0.382457 
time: 1403636955.151666, t: -1.278234 -3.224107 -1.340195 q: -0.435430 -0.545101 0.608040 -0.378883 
time: 1403636956.151666, t: -0.667254 -3.764377 -1.381694 q: -0.426692 -0.513635 0.635149 -0.388200 
time: 1403636957.151666, t: -0.223685 -3.970632 -1.317412 q: 0.380860 0.607021 -0.540999 0.440218 
time: 1403636958.151666, t: 0.035295 -4.005533 -1.328604 q: 0.265803 0.712382 -0.401423 0.510607 
wait for imu ... 
time: 1403636959.151666, t: 0.160477 -4.151502 -1.270013 q: 0.234949 0.747548 -0.340863 0.519406 
time: 1403636960.151666, t: 0.587623 -4.982862 -1.574354 q: 0.246160 0.740933 -0.350969 0.516956 
time: 1403636962.151666, t: 1.229231 -4.706261 -1.505964 q: 0.072642 0.809518 -0.101866 0.573609 
wait for imu ... 
time: 1403636963.151666, t: 1.401854 -4.405794 -1.254281 q: -0.018828 0.802505 0.046054 0.594568 
time: 1403636964.151666, t: 1.340732 -3.968165 -1.172063 q: -0.006325 0.810213 0.020827 0.585731 
time: 1403636965.151666, t: 1.053472 -3.340778 -1.076437 q: -0.065168 0.797914 0.126821 0.585665 
time: 1403636966.151666, t: 0.645653 -2.562796 -0.693173 q: -0.086755 0.797205 0.138557 0.581154 
time: 1403636967.151666, t: 0.198082 -1.946588 -0.716199 q: -0.089236 0.797081 0.116677 0.585735 
time: 1403636968.151666, t: -0.494028 -1.432825 -0.825634 q: -0.082662 0.794081 0.116219 0.590844 
time: 1403636969.151666, t: -1.297695 -1.039663 -0.905516 q: -0.081432 0.800381 0.115158 0.582665 
time: 1403636970.151666, t: -2.149119 -0.630669 -0.782296 q: -0.076952 0.807024 0.113274 0.574421 
time: 1403636971.151666, t: -2.777617 -0.039080 -0.787134 q: -0.094633 0.827658 0.108458 0.542460 
time: 1403636972.151666, t: -3.014022 0.172463 -0.971211 q: -0.096592 0.801910 0.113064 0.578642 
time: 1403636973.151666, t: -2.962883 0.080905 -0.929728 q: -0.072131 0.815220 0.094887 0.566754 
wait for imu ... 
time: 1403636974.151666, t: -3.260182 0.167971 -1.042067 q: -0.050092 0.816336 0.057675 0.572503 
time: 1403636976.151666, t: -3.743220 0.414633 -1.201798 q: 0.131256 0.787214 -0.219098 0.561304 
time: 1403636977.151666, t: -3.062380 -0.099235 -1.539791 q: 0.208517 0.753728 -0.337339 0.524039 
time: 1403636978.151666, t: -3.206814 -0.623194 -1.564872 q: 0.217110 0.745358 -0.331875 0.535876 
time: 1403636979.151666, t: -3.263741 -1.084173 -1.585805 q: 0.231771 0.746500 -0.330147 0.529172 
time: 1403636980.151666, t: -2.923397 -1.688691 -1.748177 q: 0.236737 0.750603 -0.337061 0.516663 
time: 1403636981.151666, t: -2.476501 -2.156306 -1.873039 q: 0.232582 0.747042 -0.335487 0.524673 
time: 1403636982.151666, t: -2.007056 -2.525957 -1.929887 q: 0.231081 0.762761 -0.358237 0.486275 
time: 1403636983.151666, t: -1.366418 -3.247622 -1.929276 q: 0.234709 0.744808 -0.346110 0.519981 
time: 1403636984.151666, t: -0.708568 -3.977154 -1.986581 q: 0.243938 0.752836 -0.353252 0.498944 
time: 1403636985.151666, t: 0.065849 -4.543932 -1.978007 q: 0.248612 0.738770 -0.354835 0.516239 
time: 1403636987.151666, t: 1.744428 -4.880114 -1.961835 q: 0.223677 0.747736 -0.323317 0.535094 
time: 1403636988.151666, t: 2.309893 -4.701224 -1.822719 q: 0.201954 0.746743 -0.319869 0.547059 
time: 1403636989.151666, t: 2.079399 -4.286450 -1.682080 q: 0.203053 0.719560 -0.320448 0.581650 
time: 1403636990.151666, t: 1.220742 -3.859744 -1.541199 q: 0.224452 0.742569 -0.311246 0.548943 
time: 1403636991.151666, t: 0.401331 -3.353674 -1.481988 q: 0.218652 0.758508 -0.304652 0.532957 
time: 1403636992.151666, t: -0.280508 -2.821124 -1.330951 q: 0.221150 0.749667 -0.323940 0.533061 
time: 1403636993.151666, t: -0.847397 -2.398196 -1.256678 q: 0.233964 0.746497 -0.329728 0.528472 
time: 1403636994.151666, t: -1.322135 -1.884249 -1.092408 q: 0.172760 0.770806 -0.231817 0.567691 
time: 1403636996.151666, t: -2.781608 -0.674075 -0.920501 q: 0.152509 0.780629 -0.245317 0.554237 
time: 1403636997.151666, t: -3.489593 -0.232422 -0.785745 q: 0.073105 0.815121 -0.119442 0.562109 
time: 1403636998.151666, t: -3.893154 0.063227 -0.664439 q: 0.066680 0.820513 -0.102574 0.558383 
time: 1403636999.151666, t: -3.935595 0.202853 -0.373725 q: 0.089730 0.803055 -0.098245 0.580861 
time: 1403637000.151666, t: -4.140992 0.553224 -0.370398 q: 0.086836 0.802486 -0.104241 0.581042 
time: 1403637001.151666, t: -4.587840 1.129368 -0.278551 q: 0.082528 0.802110 -0.109612 0.581201 
time: 1403637002.151666, t: -5.091174 1.674953 -0.176480 q: 0.079288 0.808770 -0.118404 0.570601 
time: 1403637003.151666, t: -5.524897 2.185503 -0.153403 q: 0.085516 0.808305 -0.120639 0.569892 
time: 1403637004.151666, t: -5.924225 2.731904 -0.122220 q: 0.085644 0.812401 -0.120284 0.564093 
time: 1403637005.151666, t: -6.266356 3.200798 -0.113610 q: 0.081438 0.808570 -0.139575 0.565775 
time: 1403637006.151666, t: -6.560315 3.464826 -0.173004 q: 0.081821 0.807491 -0.128105 0.569959 
time: 1403637007.151666, t: -6.679552 3.543692 -0.246437 q: 0.025845 0.815260 -0.043981 0.576844 
time: 1403637008.151666, t: -6.805139 3.591727 -0.351330 q: 0.016121 0.819907 -0.029157 0.571527 
time: 1403637009.151666, t: -6.790311 3.653978 -0.383633 q: 0.016427 0.819636 -0.048899 0.570558 
time: 1403637010.151666, t: -6.732083 3.619314 -0.452181 q: -0.017343 0.788953 -0.043379 0.612675 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720473195.676325681]: Shutdown request received.[0m
[33m[ WARN] [1720473195.676363208]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720473195.677283309]: Shutdown request received.[0m
[33m[ WARN] [1720473195.677310680]: Reason given for shutdown: [user request][0m
killed
