/SLAM-Hive/slam_hive_results/mapping_results/2865/2073_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720475336.737308246]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720475336.739224358]: init begins[0m
[31m[ERROR] [1720475336.740311651]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e0716330-3d73-11ef-9cbc-0242ac110005/roslaunch-df5fd15c1ccb-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://df5fd15c1ccb:46627/[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] [1720475337.897596851]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720475337.899312556]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://df5fd15c1ccb:11311/[0m
]2;roscore http://df5fd15c1ccb:11311/
[1msetting /run_id to e0716330-3d73-11ef-9cbc-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720475337.930225917]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720475337.930682494]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720475337.930744228]: 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] [1720475337.931368290]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720475337.931958628]: 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 [236][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720475346.866100637]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316838216.54 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
[0m[ INFO] [1720475348.272050251]: IMU excitation not enouth![0m
[0m[ INFO] [1720475348.272818276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475348.482891419]: IMU excitation not enouth![0m
[0m[ INFO] [1720475348.483375810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475348.688567546]: IMU excitation not enouth![0m
[0m[ INFO] [1720475348.779214711]: IMU excitation not enouth![0m
[0m[ INFO] [1720475348.779616762]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475348.983954542]: IMU excitation not enouth![0m
[0m[ INFO] [1720475349.182349314]: IMU excitation not enouth![0m
[0m[ INFO] [1720475349.280865716]: IMU excitation not enouth![0m
[0m[ INFO] [1720475349.281387255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475349.480366766]: IMU excitation not enouth![0m
[0m[ INFO] [1720475349.481108371]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475349.687869342]: IMU excitation not enouth![0m
[0m[ INFO] [1720475349.771790643]: IMU excitation not enouth![0m
[0m[ INFO] [1720475349.771978012]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475349.986455035]: IMU excitation not enouth![0m
[0m[ INFO] [1720475350.193709978]: IMU excitation not enouth![0m
[0m[ INFO] [1720475350.194457184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475350.279783068]: IMU excitation not enouth![0m
[0m[ INFO] [1720475350.372716985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475350.598846607]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720475350.831979522]: gyroscope bias initial calibration -0.000412899    0.0283279    0.0829331[0m
[0m[ INFO] [1720475350.864584398]: Initialization finish![0m
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time: 1403637134.388319, t: -0.016440 -0.020917 0.385542 q: -0.036851 0.788129 0.049680 0.612394 
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time: 1403637136.588319, t: 0.010177 -0.035764 0.083774 q: -0.044104 0.853135 0.034472 0.518678 
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wait for imu ... 
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time: 1403637203.488319, t: 2.860839 -3.063559 0.049335 q: 0.158116 0.789512 -0.214418 0.552896 
optimize pose graph 
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time: 1403637203.688319, t: 2.783556 -3.128411 0.022452 q: 0.162709 0.788701 -0.213082 0.553239 
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wait for imu ... 
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wait for imu ... 
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time: 1403637209.588319, t: 1.751499 -2.479675 0.061864 q: 0.120812 0.821053 -0.174476 0.529939 
optimize pose graph 
time: 1403637209.688319, t: 1.753473 -2.456400 0.077330 q: 0.114568 0.830042 -0.171284 0.518233 
time: 1403637209.788319, t: 1.767917 -2.436414 0.097630 q: 0.111014 0.834569 -0.169580 0.512263 
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wait for imu ... 
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optimize pose graph 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
wait for imu ... 
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optimize pose graph 
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time: 1403637253.788319, t: 2.640226 -2.356523 0.076993 q: 0.042372 0.808083 -0.060599 0.584410 
optimize pose graph 
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time: 1403637257.588319, t: 0.761298 -1.240355 0.347047 q: -0.093211 0.806389 0.149541 0.564523 
time: 1403637257.688319, t: 0.707458 -1.197095 0.348762 q: -0.095688 0.810364 0.149870 0.558295 
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time: 1403637257.988319, t: 0.551775 -1.052877 0.321831 q: -0.112658 0.815266 0.165924 0.543248 
optimize pose graph 
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time: 1403637258.188319, t: 0.461570 -0.945591 0.304743 q: -0.135516 0.805338 0.194174 0.543472 
time: 1403637258.288319, t: 0.424637 -0.890968 0.307065 q: -0.143210 0.795635 0.210289 0.549758 
time: 1403637258.388319, t: 0.390797 -0.836036 0.306082 q: -0.151278 0.788854 0.221278 0.553047 
time: 1403637258.488319, t: 0.350901 -0.779661 0.296741 q: -0.162678 0.787798 0.225035 0.549791 
time: 1403637258.588319, t: 0.318535 -0.724723 0.282536 q: -0.171841 0.789392 0.225740 0.544401 
time: 1403637258.688319, t: 0.291111 -0.670233 0.266414 q: -0.174652 0.786262 0.227049 0.547483 
time: 1403637258.788319, t: 0.263670 -0.620027 0.246540 q: -0.175924 0.783804 0.227540 0.550389 
time: 1403637258.888319, t: 0.240772 -0.573323 0.225409 q: -0.177672 0.782001 0.226398 0.552857 
time: 1403637258.988319, t: 0.219423 -0.527657 0.209526 q: -0.179248 0.782543 0.224179 0.552485 
time: 1403637259.088319, t: 0.206181 -0.486257 0.203741 q: -0.178955 0.783429 0.222408 0.552040 
time: 1403637259.188319, t: 0.195398 -0.451291 0.212663 q: -0.179638 0.783356 0.221085 0.552454 
time: 1403637259.288319, t: 0.182969 -0.418784 0.229729 q: -0.180089 0.783002 0.219224 0.553549 
time: 1403637259.388319, t: 0.172686 -0.392574 0.244678 q: -0.180807 0.783805 0.217219 0.552968 
time: 1403637259.488319, t: 0.157838 -0.370847 0.255530 q: -0.188236 0.784037 0.210853 0.552626 
time: 1403637259.588319, t: 0.144292 -0.355889 0.261824 q: -0.192293 0.784249 0.207592 0.552161 
time: 1403637259.688319, t: 0.134313 -0.348198 0.266987 q: -0.188961 0.784044 0.209203 0.552995 
time: 1403637259.788319, t: 0.124835 -0.339552 0.265616 q: -0.181855 0.786696 0.213819 0.549836 
wait for imu ... 
time: 1403637259.888319, t: 0.116883 -0.334593 0.264263 q: -0.180492 0.786889 0.214448 0.549763 
time: 1403637259.988319, t: 0.110562 -0.332194 0.257625 q: -0.184447 0.785086 0.211594 0.552129 
time: 1403637260.088319, t: 0.104895 -0.334816 0.247800 q: -0.180893 0.782779 0.214326 0.555518 
time: 1403637260.188319, t: 0.097417 -0.337892 0.232641 q: -0.174775 0.782856 0.218870 0.555596 
time: 1403637260.288319, t: 0.090760 -0.344419 0.214579 q: -0.167246 0.782728 0.224815 0.555719 
time: 1403637260.388319, t: 0.082922 -0.352796 0.195701 q: -0.158397 0.780564 0.231735 0.558507 
time: 1403637260.488319, t: 0.074429 -0.358872 0.174375 q: -0.153289 0.780484 0.236128 0.558203 
time: 1403637260.588319, t: 0.063873 -0.362156 0.150365 q: -0.151990 0.787041 0.237251 0.548797 
time: 1403637260.688319, t: 0.053405 -0.361955 0.127694 q: -0.153020 0.791607 0.236298 0.542316 
time: 1403637260.788319, t: 0.043691 -0.357336 0.105847 q: -0.156399 0.789272 0.234312 0.545607 
time: 1403637260.888319, t: 0.034407 -0.350139 0.083401 q: -0.160595 0.784523 0.232578 0.551943 
time: 1403637260.988319, t: 0.025862 -0.341131 0.060826 q: -0.162694 0.779993 0.231696 0.558085 
time: 1403637261.088319, t: 0.015766 -0.332486 0.037508 q: -0.163404 0.781709 0.231531 0.555539 
time: 1403637261.188319, t: 0.003765 -0.322979 0.014709 q: -0.160543 0.788540 0.233232 0.545925 
time: 1403637261.288319, t: -0.007664 -0.311429 -0.004690 q: -0.157725 0.793974 0.234882 0.538107 
time: 1403637261.388319, t: -0.016325 -0.297518 -0.016506 q: -0.159774 0.790584 0.233216 0.543193 
time: 1403637261.588319, t: -0.026987 -0.267044 -0.028616 q: -0.165690 0.791873 0.228530 0.541533 
time: 1403637261.688319, t: -0.029032 -0.251819 -0.030639 q: -0.161151 0.797520 0.231228 0.533409 
time: 1403637261.788319, t: -0.027492 -0.234349 -0.025379 q: -0.160038 0.795210 0.231619 0.537011 
time: 1403637261.888319, t: -0.024171 -0.213981 -0.017730 q: -0.162258 0.788198 0.229348 0.547555 
time: 1403637261.988319, t: -0.019829 -0.194454 -0.016024 q: -0.163560 0.783676 0.227191 0.554512 
time: 1403637262.088319, t: -0.014945 -0.176223 -0.024879 q: -0.167203 0.781182 0.223381 0.558479 
time: 1403637262.188319, t: -0.011104 -0.160600 -0.042988 q: -0.170933 0.781484 0.219575 0.558436 
time: 1403637262.388319, t: -0.010718 -0.152944 -0.070646 q: -0.176932 0.768949 0.213991 0.575865 
time: 1403637262.488319, t: -0.011967 -0.162684 -0.079256 q: -0.165255 0.787010 0.184509 0.565033 
time: 1403637262.588319, t: -0.016458 -0.169640 -0.075981 q: -0.176985 0.770582 0.173652 0.587132 
time: 1403637262.688319, t: -0.014637 -0.170379 -0.081520 q: -0.171966 0.780734 0.175988 0.574378 
time: 1403637262.788319, t: -0.012878 -0.171443 -0.077023 q: -0.173163 0.778976 0.173443 0.577173 
time: 1403637262.888319, t: -0.011794 -0.169438 -0.077320 q: -0.173524 0.779939 0.174369 0.575482 
time: 1403637262.988319, t: -0.012513 -0.170762 -0.076679 q: -0.173338 0.779494 0.174187 0.576195 
time: 1403637263.088319, t: -0.013080 -0.171024 -0.076294 q: -0.172708 0.779432 0.174407 0.576402 
time: 1403637263.188319, t: -0.014035 -0.171886 -0.075575 q: -0.172388 0.779245 0.174565 0.576704 
wait for imu ... 
time: 1403637263.288319, t: -0.014859 -0.171746 -0.075122 q: -0.172595 0.779442 0.174435 0.576414 
time: 1403637263.388319, t: -0.014849 -0.171674 -0.075085 q: -0.172911 0.779440 0.174359 0.576346 
time: 1403637263.488319, t: -0.014795 -0.171835 -0.075146 q: -0.172633 0.779451 0.174477 0.576379 
time: 1403637263.688319, t: -0.014793 -0.171830 -0.075137 q: -0.172924 0.779537 0.174312 0.576225 
time: 1403637263.788319, t: -0.014782 -0.171710 -0.075169 q: -0.173258 0.779546 0.174009 0.576204 
time: 1403637263.888319, t: -0.014820 -0.171763 -0.075168 q: -0.173297 0.779557 0.173972 0.576188 
time: 1403637263.988319, t: -0.014683 -0.171909 -0.075200 q: -0.173012 0.779601 0.174104 0.576174 
time: 1403637264.088319, t: -0.014698 -0.171889 -0.075227 q: -0.172972 0.779632 0.174138 0.576134 
time: 1403637264.188319, t: -0.014787 -0.171916 -0.075160 q: -0.172912 0.779600 0.174096 0.576209 
time: 1403637264.288319, t: -0.014685 -0.171851 -0.075183 q: -0.173106 0.779658 0.174002 0.576099 
time: 1403637264.388319, t: -0.014862 -0.171824 -0.075083 q: -0.173086 0.779708 0.174049 0.576025 
time: 1403637264.488319, t: -0.014687 -0.171844 -0.075130 q: -0.173008 0.779674 0.174028 0.576100 
time: 1403637264.588319, t: -0.014680 -0.171810 -0.075104 q: -0.173051 0.779709 0.173969 0.576057 
time: 1403637264.688319, t: -0.014740 -0.171870 -0.075070 q: -0.173088 0.779725 0.173908 0.576044 
time: 1403637264.788319, t: -0.014745 -0.171852 -0.075063 q: -0.173141 0.779762 0.173859 0.575992 
time: 1403637264.888319, t: -0.014656 -0.171903 -0.075083 q: -0.173115 0.779769 0.173839 0.575996 
time: 1403637264.988319, t: -0.014714 -0.171960 -0.075037 q: -0.172954 0.779792 0.173905 0.575994 
time: 1403637265.088319, t: -0.014726 -0.171926 -0.075008 q: -0.172962 0.779845 0.173931 0.575911 
time: 1403637265.188319, t: -0.014662 -0.171918 -0.075029 q: -0.172912 0.779827 0.173885 0.575964 
time: 1403637265.288319, t: -0.014663 -0.171912 -0.075050 q: -0.172918 0.779860 0.173900 0.575913 
time: 1403637265.388319, t: -0.014684 -0.171930 -0.075002 q: -0.172904 0.779871 0.173904 0.575902 
wait for imu ... 
time: 1403637265.488319, t: -0.014737 -0.171895 -0.074960 q: -0.172904 0.779881 0.173880 0.575895 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720475483.789321496]: Shutdown request received.[0m
[33m[ WARN] [1720475483.789389402]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720475483.790273414]: Shutdown request received.[0m
[33m[ WARN] [1720475483.790298009]: Reason given for shutdown: [user request][0m
killed
[rosout-1] killing on exit
