/SLAM-Hive/slam_hive_results/mapping_results/2861/2069_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720474584.874087626]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720474584.875733803]: init begins[0m
[31m[ERROR] [1720474584.876990855]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/204d60be-3d72-11ef-9d54-0242ac110005/roslaunch-f9ef7adab662-117.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://f9ef7adab662:45487/[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
[0m[ INFO] [1720474586.137713131]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720474586.138943558]: 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] [1720474586.162524000]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720474586.162988701]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720474586.163080732]: 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] [1720474586.163619582]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720474586.164315081]: 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://f9ef7adab662:11311/[0m
]2;roscore http://f9ef7adab662:11311/
[1msetting /run_id to 204d60be-3d72-11ef-9d54-0242ac110005[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720474595.025782107]: 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: 316837738.40 
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 ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720474618.221939262]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474620.232922635]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474622.228154235]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474624.233034290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474626.222220852]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474628.224549155]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474630.234279495]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474632.229840770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474634.229340444]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474636.229463012]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474638.234989537]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474640.227389171]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474642.232683403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474644.230798005]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474646.229221781]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474648.204071060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474650.232640373]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474652.228042925]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474654.227925357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474656.234717877]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474658.228374314]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474660.231320539]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474662.228603494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474664.222673410]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474666.202233875]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474668.232994426]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474670.227575939]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474672.228417565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474674.234170328]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474676.226170330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474678.234210243]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474680.231658062]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474682.225316277]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474684.230546227]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474686.227736631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474688.205625371]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474690.228138305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474692.230628595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474694.230936117]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474696.218683477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474698.224401057]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474700.227608087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474702.234290762]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474704.228021009]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474706.227775672]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474708.216948088]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474710.201544206]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474712.206932312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474714.222810455]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474716.226930739]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474718.219796604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474720.217715815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474722.216994914]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474724.216678169]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474726.227188242]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474728.223915703]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474730.223689253]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474732.207918466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474734.230596157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474736.229817584]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474738.226251393]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474740.223251882]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474742.227576020]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474744.221015251]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474746.225697693]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720474748.219116431]: Not enough features or parallax; Move device around[0m
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720474749.707911536]: Shutdown request received.[0m
[33m[ WARN] [1720474749.707954573]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720474749.708953147]: Shutdown request received.[0m
[33m[ WARN] [1720474749.708979711]: Reason given for shutdown: [user request][0m
killed
