/SLAM-Hive/slam_hive_results/mapping_results/2855/2063_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720473420.050196103]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720473420.051613837]: init begins[0m
[31m[ERROR] [1720473420.052712096]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6a026374-3d6f-11ef-9a88-0242ac110005/roslaunch-29a04a2063cb-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://29a04a2063cb:37549/[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
[1mROS_MASTER_URI=http://29a04a2063cb:11311/[0m
]2;roscore http://29a04a2063cb:11311/
[1msetting /run_id to 6a026374-3d6f-11ef-9a88-0242ac110005[0m
[0m[ INFO] [1720473421.205904956]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720473421.208170893]: 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] [1720473421.214751167]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720473421.214952892]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720473421.214986327]: 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] [1720473421.215165975]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720473421.215415366]: 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 [193][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720473430.193883436]: 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: 316836573.56 
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 ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720473442.888695856]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473443.885420152]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473444.879407078]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473445.878816794]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473446.876510143]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473447.878000250]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473448.870504944]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473449.878060842]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473450.881485199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473451.865444167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473452.869108524]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473453.881444785]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473454.882518890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473455.871151797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473456.881378606]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473457.877766999]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473458.880828548]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473459.883114803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473460.868626648]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473461.884781835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473462.877557049]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473463.876119330]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473464.874634347]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473465.876615616]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473466.863954997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473467.869619016]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473468.874946051]: IMU excitation not enouth![0m
[0m[ INFO] [1720473468.875072014]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473469.875241075]: IMU excitation not enouth![0m
[0m[ INFO] [1720473469.875423517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473470.883440948]: IMU excitation not enouth![0m
[0m[ INFO] [1720473470.883583494]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473471.866353883]: IMU excitation not enouth![0m
[0m[ INFO] [1720473471.866417197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473472.876077171]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473473.877601636]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473474.871757718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473475.880164348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473476.882155365]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473477.860207593]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473478.874303656]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473479.876933013]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473480.872903020]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473481.881014636]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473482.880616889]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473483.882815291]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473484.874656748]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473485.875343376]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473486.864603610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473487.877741018]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473488.859749153]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473489.879879561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473490.870332482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473491.883758306]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473492.878083778]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473493.875291008]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473495.881763321]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473498.865807913]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473499.855377617]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473500.873857897]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720473502.874244210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473503.869278570]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
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[0m[ INFO] [1720473508.872695151]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473510.866802384]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473513.878051618]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473515.876757929]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720473518.884530772]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720473520.863760464]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473521.859527155]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
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[0m[ INFO] [1720473527.877979737]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473528.857862092]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473529.868551577]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473531.889220131]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473532.858097815]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473537.878260429]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473539.862733749]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473542.878629559]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473548.861225745]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473550.877093239]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473551.872886050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473552.870173574]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720473554.853492492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473555.870059923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473556.862365872]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473558.870682092]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473559.864620664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473560.880963352]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473562.868257211]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473563.872091313]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473565.865365695]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473566.870870623]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720473567.862680168]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720473569.861029300]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473571.868983418]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720473575.877765465]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473576.865733455]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473577.872079691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473578.864238750]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473579.852377292]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473580.871580994]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720473581.861338799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473582.874880245]: IMU excitation not enouth![0m
[0m[ INFO] [1720473582.875169829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720473583.880000895]: IMU excitation not enouth![0m
[0m[ INFO] [1720473583.880111945]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720473584.890553967]: Shutdown request received.[0m
[33m[ WARN] [1720473584.890607957]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720473584.891527004]: Shutdown request received.[0m
[33m[ WARN] [1720473584.891553598]: Reason given for shutdown: [user request][0m
killed
