/SLAM-Hive/slam_hive_results/mapping_results/2860/2068_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720474389.618708258]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720474389.619028113]: init begins[0m
[31m[ERROR] [1720474389.620047188]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/abec95be-3d71-11ef-a0bf-0242ac110005/roslaunch-b17d04546528-118.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://b17d04546528:33815/[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] [1720474390.775448806]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720474390.776087807]: 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] [1720474390.782142565]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720474390.782345141]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720474390.782371798]: 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] [1720474390.782547260]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720474390.782799719]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://b17d04546528:11311/[0m
]2;roscore http://b17d04546528:11311/
[1msetting /run_id to abec95be-3d71-11ef-a0bf-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720474399.763395013]: 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: 316837543.14 
init first imu pose
averge acc 9.674898 -0.483755 -3.234680
init R0 
  0.320251   0.140118   0.936913
         0  -0.989001   0.147908
  0.947333 -0.0473676  -0.316729
wait for imu ... 
[0m[ INFO] [1720474422.965981173]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474424.966910459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474426.967220301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474428.975232167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474430.954956528]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474432.976696589]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474434.974839324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474436.965894855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474438.965613429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474440.963150570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474442.976748803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474444.948014560]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474446.971842154]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474448.958794804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474450.966122136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474452.962137038]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474454.948081756]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474456.952329761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474458.965550889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474460.977212664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474462.961663107]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720474466.964197305]: 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] [1720474470.959943066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474472.964629331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474476.970340401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474478.945385569]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474480.962970788]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474482.971159968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474484.945166573]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474486.938431624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474488.957115370]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474490.956794811]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474492.973913537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474494.961572682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474496.974286732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474498.973225059]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474500.964177541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474502.952093575]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474504.949679861]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474508.936306082]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474510.936960848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474512.963099498]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474514.938277284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474518.960242914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474520.964264195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474522.960793381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474524.958479330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474526.953748576]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474528.962167396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474530.944987711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474532.961164657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474534.964341243]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474536.961762631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474538.968217230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474540.969776153]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474542.958467289]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474544.941092249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474546.943750242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474548.957151980]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474550.953298208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474552.958663948]: Not enough features or parallax; Move device around[0m
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720474554.454155658]: Shutdown request received.[0m
[33m[ WARN] [1720474554.454212047]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720474554.455047779]: Shutdown request received.[0m
[33m[ WARN] [1720474554.455087145]: Reason given for shutdown: [user request][0m
killed
