/SLAM-Hive/slam_hive_results/mapping_results/2854/2062_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720473225.876617106]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720473225.878255920]: init begins[0m
[31m[ERROR] [1720473225.879264506]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f645ee56-3d6e-11ef-959d-0242ac110005/roslaunch-c28bebd91949-119.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://c28bebd91949:37745/[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 [156][0m
[1mROS_MASTER_URI=http://c28bebd91949:11311/[0m
]2;roscore http://c28bebd91949:11311/
[1msetting /run_id to f645ee56-3d6e-11ef-959d-0242ac110005[0m
[0m[ INFO] [1720473227.032167911]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720473227.034792191]: 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] [1720473227.041375241]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720473227.041599595]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720473227.041630570]: 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] [1720473227.041828833]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720473227.042111137]: 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 [177][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720473236.034133132]: 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: 316836379.41 
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 ... 
[0m[ INFO] [1720473248.736690324]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473249.722974053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473250.723329871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473251.728808977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473252.725940020]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473253.726604245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473254.727580309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473255.726054524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473256.726962895]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473257.715344323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473258.738083860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473259.724948309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473260.744182668]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473261.734250910]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473262.739181047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473263.725542085]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473264.724266238]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473265.732872914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473266.736341709]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473267.725467869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473268.714285941]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473269.722624861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473270.725110988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473271.724165672]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473272.735537044]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473273.738615690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473274.736243183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473275.726198202]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473276.735119292]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473277.713984454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473278.727536749]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473279.707344148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473280.725715148]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473281.711620540]: 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 ... 
wait for imu ... 
[0m[ INFO] [1720473284.710529512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473285.732898535]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473286.717490264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473287.763215973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473288.721036266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473289.727126987]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473290.709703106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473291.710685351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473292.726469753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473293.739460100]: 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] [1720473295.746494722]: 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!
[0m[ INFO] [1720473297.764223182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473298.735602284]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720473300.755248632]: 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!
[0m[ INFO] [1720473303.754136923]: 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!
[33m[ WARN] [1720473304.785728392]: gyroscope bias initial calibration -0.00200353   0.0200949   0.0759119[0m
[0m[ INFO] [1720473304.837383673]: Initialization finish![0m
time: 1403636925.151666, t: 0.651982 -1.802491 -0.093138 q: 0.196250 0.755880 -0.296462 0.549764 
time: 1403636926.151666, t: 0.943309 -2.384292 -0.250287 q: 0.218174 0.756004 -0.294049 0.542580 
time: 1403636927.151666, t: 1.248823 -2.851939 -0.360506 q: 0.215656 0.741841 -0.344159 0.533591 
time: 1403636928.151666, t: 1.409139 -3.474631 -0.494904 q: 0.266964 0.729060 -0.402102 0.485299 
time: 1403636929.151666, t: 1.779828 -4.224278 -0.527937 q: 0.266147 0.709350 -0.391796 0.522001 
time: 1403636930.151666, t: 1.962486 -4.839193 -0.444885 q: 0.261514 0.714954 -0.386549 0.520606 
time: 1403636931.151666, t: 1.899794 -5.269473 -0.383606 q: 0.263899 0.696606 -0.410557 0.525870 
time: 1403636933.151666, t: 1.265669 -5.056822 -0.228544 q: 0.342341 0.656985 -0.475247 0.474672 
time: 1403636934.151666, t: 1.082887 -4.577841 -0.286047 q: 0.354137 0.634316 -0.507749 0.463057 
time: 1403636935.151666, t: 0.811972 -4.086039 -0.274480 q: -0.427188 -0.538800 0.618130 -0.380947 
time: 1403636936.151666, t: 0.490347 -3.623705 -0.248419 q: -0.396375 -0.559307 0.624211 -0.374730 
time: 1403636937.151666, t: 0.063385 -3.493723 -0.319097 q: -0.427968 -0.541945 0.613172 -0.383614 
time: 1403636938.151666, t: -0.200791 -3.522635 -0.445564 q: -0.461311 -0.528027 0.599853 -0.385430 
time: 1403636939.151666, t: -0.466283 -3.150530 -0.534862 q: -0.434186 -0.515002 0.637162 -0.374541 
time: 1403636940.151666, t: -0.926717 -2.657280 -0.590515 q: -0.442751 -0.500989 0.636157 -0.385079 
time: 1403636941.151666, t: -1.466820 -1.996416 -0.667122 q: -0.445848 -0.497427 0.654818 -0.353552 
time: 1403636942.151666, t: -2.024825 -1.314598 -0.556685 q: -0.441793 -0.503197 0.644272 -0.369493 
time: 1403636943.151666, t: -2.604318 -0.774423 -0.567855 q: -0.451020 -0.493214 0.649154 -0.363209 
time: 1403636944.151666, t: -3.083580 -0.223006 -0.726303 q: -0.423546 -0.520346 0.655250 -0.347126 
wait for imu ... 
time: 1403636945.151666, t: -3.390628 0.027633 -0.669544 q: -0.441964 -0.532525 0.612046 -0.382734 
time: 1403636946.151666, t: -3.380980 0.224963 -0.741356 q: -0.436403 -0.533001 0.624834 -0.367486 
time: 1403636947.151666, t: -3.238104 0.338549 -1.105301 q: -0.411073 -0.500165 0.653450 -0.392246 
time: 1403636948.151666, t: -3.432960 0.284198 -1.200367 q: -0.432213 -0.535585 0.638410 -0.344633 
time: 1403636949.151666, t: -3.277310 -0.153571 -1.362332 q: -0.438305 -0.524837 0.616841 -0.389798 
time: 1403636950.151666, t: -2.935751 -0.484372 -1.451068 q: -0.409042 -0.537851 0.634558 -0.375149 
time: 1403636951.151666, t: -2.718554 -0.896665 -1.470416 q: -0.426560 -0.528926 0.620751 -0.391091 
time: 1403636952.151666, t: -2.452694 -1.309906 -1.409633 q: -0.439344 -0.540659 0.613688 -0.371554 
wait for imu ... 
time: 1403636953.151666, t: -2.137024 -1.771424 -1.552361 q: -0.413599 -0.531650 0.631786 -0.383577 
time: 1403636954.151666, t: -1.889326 -2.224828 -1.559293 q: -0.427873 -0.547395 0.616105 -0.371075 
wait for imu ... 
time: 1403636955.151666, t: -1.475461 -2.945037 -1.554148 q: -0.446551 -0.525648 0.625079 -0.365461 
time: 1403636956.151666, t: -0.867788 -3.534957 -1.550792 q: -0.438026 -0.493165 0.651237 -0.375250 
time: 1403636957.151666, t: -0.388959 -3.874196 -1.499320 q: 0.394034 0.589109 -0.560384 0.428553 
time: 1403636958.151666, t: -0.023345 -3.969600 -1.527646 q: 0.282299 0.698318 -0.424650 0.502326 
time: 1403636959.151666, t: 0.163751 -4.055137 -1.378163 q: 0.252114 0.735289 -0.365235 0.512242 
time: 1403636960.151666, t: 0.364532 -4.786533 -1.764427 q: 0.263575 0.727697 -0.376619 0.509062 
wait for imu ... 
time: 1403636961.151666, t: 0.774274 -4.791495 -1.896423 q: 0.209382 0.757931 -0.299094 0.540595 
time: 1403636962.151666, t: 1.067359 -4.603226 -1.690391 q: 0.092453 0.804609 -0.130095 0.571954 
wait for imu ... 
time: 1403636963.151666, t: 1.251782 -4.277936 -1.426387 q: 0.002638 0.803034 0.017185 0.595679 
time: 1403636964.151666, t: 1.257331 -3.810719 -1.337397 q: 0.015270 0.809885 -0.008791 0.586324 
time: 1403636965.151666, t: 0.947819 -3.145275 -1.251514 q: -0.043462 0.801398 0.097252 0.588570 
wait for imu ... 
time: 1403636966.151666, t: 0.703818 -2.251195 -0.825827 q: -0.064691 0.801380 0.108712 0.584625 
time: 1403636967.151666, t: 0.288211 -1.523736 -0.792454 q: -0.066859 0.800514 0.086479 0.589261 
time: 1403636968.151666, t: -0.215876 -1.066553 -0.961767 q: -0.059772 0.797871 0.085103 0.593790 
time: 1403636969.151666, t: -1.081474 -0.658432 -1.049892 q: -0.058890 0.804069 0.083520 0.585687 
time: 1403636970.151666, t: -1.941771 -0.131453 -0.911117 q: -0.054489 0.810693 0.081289 0.577235 
time: 1403636971.151666, t: -2.543347 0.472245 -0.898050 q: -0.073249 0.831176 0.075469 0.545971 
time: 1403636972.151666, t: -2.629395 0.748128 -1.108770 q: -0.073374 0.805806 0.080751 0.582042 
time: 1403636973.151666, t: -2.896247 0.754618 -1.105583 q: -0.049284 0.818180 0.061764 0.569506 
wait for imu ... 
time: 1403636974.151666, t: -3.059477 0.701522 -1.157017 q: -0.027308 0.817962 0.024390 0.574107 
time: 1403636975.151666, t: -2.979506 0.706984 -1.366818 q: 0.115587 0.800986 -0.198737 0.552780 
time: 1403636976.151666, t: -2.915275 0.668657 -1.423505 q: 0.153359 0.777932 -0.252215 0.554698 
time: 1403636977.151666, t: -2.928241 0.402665 -1.650328 q: 0.229606 0.739057 -0.369533 0.514316 
time: 1403636978.151666, t: -3.049328 0.001050 -1.755391 q: 0.239609 0.730497 -0.363819 0.525925 
time: 1403636979.151666, t: -3.152246 -0.516515 -1.773933 q: 0.254107 0.731388 -0.362684 0.518615 
time: 1403636980.151666, t: -2.871067 -1.149017 -1.850412 q: 0.258820 0.735084 -0.369935 0.505778 
time: 1403636981.151666, t: -2.446582 -1.661609 -1.962363 q: 0.255459 0.731383 -0.368322 0.513963 
time: 1403636982.151666, t: -2.090693 -2.022349 -1.986746 q: 0.252269 0.746151 -0.391837 0.475482 
time: 1403636983.151666, t: -1.522857 -2.725318 -1.948534 q: 0.257464 0.728604 -0.379466 0.508777 
time: 1403636984.151666, t: -0.929173 -3.536477 -1.981351 q: 0.265801 0.736133 -0.387359 0.487249 
time: 1403636985.151666, t: -0.250215 -4.023726 -1.956990 q: 0.271421 0.721923 -0.388675 0.504072 
time: 1403636986.151666, t: 0.603209 -4.518126 -2.022978 q: 0.277561 0.720659 -0.335124 0.539724 
time: 1403636987.151666, t: 1.381461 -4.499826 -1.988495 q: 0.248222 0.731772 -0.358155 0.524042 
time: 1403636988.151666, t: 1.968657 -4.407391 -1.877222 q: 0.227347 0.730680 -0.355036 0.537001 
time: 1403636989.151666, t: 1.785179 -3.969426 -1.729279 q: 0.230229 0.703409 -0.354525 0.571421 
time: 1403636990.151666, t: 0.958446 -3.457591 -1.575492 q: 0.250278 0.726625 -0.346720 0.537739 
time: 1403636991.151666, t: 0.216975 -2.908392 -1.503133 q: 0.243824 0.742872 -0.341361 0.521693 
time: 1403636992.151666, t: -0.321103 -2.365649 -1.342646 q: 0.246696 0.732988 -0.360461 0.521476 
time: 1403636993.151666, t: -0.727669 -2.010691 -1.227743 q: 0.259485 0.729505 -0.366503 0.515913 
wait for imu ... 
time: 1403636994.151666, t: -1.096173 -1.468768 -1.089937 q: 0.200668 0.758409 -0.270192 0.558162 
time: 1403636995.151666, t: -1.449151 -1.023730 -1.071876 q: 0.186016 0.756540 -0.283688 0.559076 
wait for imu ... 
time: 1403636996.151666, t: -2.140723 -0.364695 -0.935472 q: 0.180288 0.767432 -0.284792 0.545379 
time: 1403636997.151666, t: -2.615952 -0.066194 -0.828943 q: 0.101428 0.808216 -0.161059 0.557278 
time: 1403636998.151666, t: -2.989337 0.291870 -0.727694 q: 0.094996 0.814192 -0.144443 0.554259 
time: 1403636999.151666, t: -3.127523 0.521442 -0.468184 q: 0.119127 0.796623 -0.139065 0.576074 
time: 1403637000.151666, t: -3.287535 0.851160 -0.501262 q: 0.116275 0.795691 -0.145100 0.576456 
time: 1403637001.151666, t: -3.694272 1.500761 -0.408402 q: 0.112214 0.794935 -0.150688 0.576870 
time: 1403637002.151666, t: -4.211363 2.220394 -0.288839 q: 0.108843 0.801076 -0.160165 0.566372 
time: 1403637003.151666, t: -4.563906 2.772398 -0.251420 q: 0.115338 0.800529 -0.162670 0.565145 
time: 1403637004.151666, t: -4.877236 3.298629 -0.243397 q: 0.115247 0.804606 -0.162441 0.559411 
time: 1403637005.151666, t: -5.129621 3.710956 -0.208590 q: 0.110941 0.799929 -0.181271 0.561201 
time: 1403637006.151666, t: -5.325590 3.941044 -0.281233 q: 0.111583 0.799544 -0.170054 0.565120 
wait for imu ... 
time: 1403637007.151666, t: -5.442641 4.066717 -0.326226 q: 0.056287 0.811670 -0.086857 0.574874 
time: 1403637008.151666, t: -5.582159 4.059467 -0.437280 q: 0.046229 0.816894 -0.072237 0.570376 
time: 1403637009.151666, t: -5.415901 4.173132 -0.447752 q: 0.047178 0.815733 -0.092826 0.568980 
time: 1403637010.151666, t: -5.558400 4.165068 -0.471007 q: 0.015548 0.785109 -0.085191 0.613274 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720473390.698455790]: Shutdown request received.[0m
[33m[ WARN] [1720473390.698515023]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720473390.699380069]: Shutdown request received.[0m
[33m[ WARN] [1720473390.699409716]: Reason given for shutdown: [user request][0m
killed
