/SLAM-Hive/slam_hive_results/mapping_results/2866/2074_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720475512.991087643]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720475512.992685535]: init begins[0m
[31m[ERROR] [1720475512.993721474]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/497f1eb2-3d74-11ef-ac47-0242ac110005/roslaunch-301a2e381745-119.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://301a2e381745:34561/[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
[0m[ INFO] [1720475514.099172816]: 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] [1720475514.104001820]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720475514.104219245]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720475514.104242342]: 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] [1720475514.104388874]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720475514.104688731]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://301a2e381745:11311/[0m
]2;roscore http://301a2e381745:11311/
[1msetting /run_id to 497f1eb2-3d74-11ef-ac47-0242ac110005[0m
[0m[ INFO] [1720475514.146621516]: Connected to master at [localhost:11311][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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720475523.112822729]: 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: 316838392.79 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[0m[ INFO] [1720475524.522200947]: IMU excitation not enouth![0m
[0m[ INFO] [1720475524.522690597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475524.723152207]: IMU excitation not enouth![0m
[0m[ INFO] [1720475524.723709935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475524.930986214]: IMU excitation not enouth![0m
[0m[ INFO] [1720475525.024620564]: IMU excitation not enouth![0m
[0m[ INFO] [1720475525.025082962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475525.216525620]: IMU excitation not enouth![0m
[0m[ INFO] [1720475525.216743654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475525.419233298]: IMU excitation not enouth![0m
[0m[ INFO] [1720475525.419613540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475525.525108307]: IMU excitation not enouth![0m
[0m[ INFO] [1720475525.722075909]: IMU excitation not enouth![0m
[0m[ INFO] [1720475525.722546973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475525.932265124]: IMU excitation not enouth![0m
[0m[ INFO] [1720475526.015818636]: IMU excitation not enouth![0m
[0m[ INFO] [1720475526.015979018]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475526.218601848]: IMU excitation not enouth![0m
[0m[ INFO] [1720475526.218809645]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475526.432341408]: IMU excitation not enouth![0m
[0m[ INFO] [1720475526.458223885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475526.517940086]: IMU excitation not enouth![0m
[0m[ INFO] [1720475526.611744122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475526.847143978]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475526.929097496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475527.048974569]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475527.246993561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475527.466801730]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475527.552115013]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475527.780233111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475527.960419954]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475528.060877681]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475528.254274750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475528.497686299]: 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!
[33m[ WARN] [1720475528.579238558]: gyroscope bias initial calibration -0.00823972  0.00586032   0.0594672[0m
[0m[ INFO] [1720475528.595292983]: Initialization finish![0m
time: 1403637135.588319, t: 0.004604 -0.027074 -0.106780 q: -0.012757 0.817463 0.014667 0.575653 
time: 1403637135.688319, t: 0.005407 -0.028096 -0.027380 q: -0.006967 0.804519 0.009277 0.593813 
time: 1403637135.788319, t: 0.003734 -0.028287 0.033550 q: -0.012153 0.793822 0.002751 0.608022 
time: 1403637135.888319, t: -0.001073 -0.034258 0.061272 q: -0.017980 0.788399 -0.001174 0.614900 
time: 1403637135.988319, t: 0.001053 -0.036818 0.049746 q: -0.019105 0.789990 -0.003072 0.612815 
time: 1403637136.088319, t: 0.004436 -0.038112 0.002776 q: -0.017682 0.795635 -0.000322 0.605519 
time: 1403637136.188319, t: 0.005449 -0.038629 -0.078050 q: -0.013890 0.804135 0.001389 0.594282 
time: 1403637136.288319, t: 0.000952 -0.040683 -0.170356 q: -0.014025 0.817200 0.001930 0.576180 
time: 1403637136.388319, t: -0.001579 -0.038826 -0.259157 q: -0.015731 0.832100 0.000365 0.554402 
time: 1403637136.488319, t: -0.015733 -0.041995 -0.326974 q: -0.023354 0.844101 -0.001285 0.535675 
time: 1403637136.588319, t: -0.017432 -0.033126 -0.360949 q: -0.026966 0.850763 -0.004966 0.524834 
time: 1403637136.688319, t: -0.024230 -0.039186 -0.348783 q: -0.024539 0.853291 -0.002239 0.520852 
time: 1403637136.788319, t: -0.012558 -0.035204 -0.284607 q: -0.023044 0.852120 -0.003417 0.522828 
time: 1403637136.888319, t: -0.038597 -0.047184 -0.203201 q: -0.021173 0.841937 -0.001218 0.539159 
time: 1403637136.988319, t: -0.034683 -0.044306 -0.101832 q: -0.011020 0.828758 -0.007345 0.559451 
time: 1403637137.088319, t: -0.048133 -0.059201 -0.010677 q: -0.005950 0.814333 -0.015791 0.580153 
time: 1403637137.188319, t: -0.037312 -0.051954 0.054627 q: -0.011089 0.801682 -0.024972 0.597127 
time: 1403637137.288319, t: -0.021239 -0.047352 0.076221 q: -0.011434 0.795008 -0.024567 0.605993 
time: 1403637137.388319, t: -0.018412 -0.044752 0.056970 q: -0.009371 0.792150 -0.022583 0.609837 
time: 1403637137.488319, t: -0.010035 -0.041219 0.001142 q: -0.008254 0.795583 -0.019123 0.605487 
time: 1403637137.588319, t: -0.002033 -0.036055 -0.079708 q: -0.000626 0.807615 -0.012508 0.589577 
time: 1403637137.688319, t: -0.006378 -0.034885 -0.170437 q: 0.006495 0.824414 -0.011038 0.565843 
time: 1403637137.788319, t: -0.004023 -0.027266 -0.251514 q: 0.001688 0.837999 -0.011570 0.545546 
time: 1403637137.888319, t: -0.012369 -0.025131 -0.311827 q: -0.005488 0.846781 -0.008933 0.531838 
time: 1403637137.988319, t: -0.012691 -0.024889 -0.336228 q: -0.005279 0.856024 -0.005570 0.516879 
time: 1403637138.088319, t: -0.016247 -0.031769 -0.311229 q: -0.007911 0.861837 -0.005660 0.507093 
time: 1403637138.188319, t: -0.011070 -0.034424 -0.242222 q: -0.008734 0.856970 0.000660 0.515293 
time: 1403637138.288319, t: -0.005319 -0.038905 -0.146498 q: 0.005666 0.842180 0.007458 0.539115 
time: 1403637138.388319, t: -0.001649 -0.039378 -0.048450 q: 0.012341 0.822105 0.002495 0.569197 
time: 1403637138.488319, t: -0.000529 -0.037639 0.031008 q: 0.020129 0.804054 -0.004676 0.594197 
time: 1403637138.588319, t: 0.000039 -0.035695 0.073065 q: 0.022639 0.793006 -0.009856 0.608713 
time: 1403637138.688319, t: 0.003313 -0.035417 0.071011 q: 0.019693 0.790115 -0.011001 0.612543 
time: 1403637138.788319, t: 0.009814 -0.036369 0.026492 q: 0.014453 0.794285 -0.013515 0.607223 
time: 1403637138.888319, t: 0.017345 -0.038379 -0.048108 q: 0.013842 0.803705 -0.016097 0.594649 
time: 1403637138.988319, t: 0.022336 -0.038324 -0.137506 q: 0.005173 0.812757 -0.014871 0.582390 
time: 1403637139.088319, t: 0.025892 -0.035218 -0.223859 q: -0.010199 0.818910 -0.014788 0.573641 
time: 1403637139.188319, t: 0.027615 -0.031331 -0.296276 q: -0.020424 0.823613 -0.013647 0.566621 
time: 1403637139.288319, t: 0.028171 -0.026567 -0.348121 q: -0.024416 0.825949 -0.009744 0.563132 
time: 1403637139.388319, t: 0.034935 -0.024695 -0.377218 q: -0.024703 0.826999 -0.003655 0.561648 
time: 1403637139.488319, t: 0.036505 -0.024219 -0.391138 q: -0.030304 0.825596 0.004722 0.563428 
time: 1403637139.588319, t: 0.036918 -0.021869 -0.399852 q: -0.034798 0.822120 0.008024 0.568193 
time: 1403637139.688319, t: 0.040219 -0.019274 -0.407357 q: -0.034919 0.818671 0.012379 0.573067 
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time: 1403637139.988319, t: 0.036635 -0.022485 -0.420508 q: -0.037708 0.805928 0.004895 0.590791 
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time: 1403637140.288319, t: 0.028591 -0.028665 -0.420167 q: -0.031833 0.795072 -0.008777 0.605615 
time: 1403637140.388319, t: 0.028180 -0.029263 -0.420769 q: -0.035032 0.794605 -0.011401 0.606008 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403637258.788319, t: 0.591884 -0.108938 -0.366835 q: -0.144203 0.795381 0.182789 0.559609 
time: 1403637258.888319, t: 0.573483 -0.056706 -0.386061 q: -0.145741 0.793557 0.181724 0.562142 
time: 1403637258.988319, t: 0.552716 -0.007562 -0.402176 q: -0.147340 0.793944 0.179502 0.561892 
time: 1403637259.088319, t: 0.546294 0.034073 -0.408573 q: -0.147175 0.794725 0.177729 0.561395 
time: 1403637259.188319, t: 0.543539 0.070965 -0.399703 q: -0.147821 0.794637 0.176422 0.561761 
time: 1403637259.288319, t: 0.539321 0.101666 -0.383117 q: -0.148366 0.794195 0.174696 0.562781 
time: 1403637259.388319, t: 0.535828 0.133748 -0.369966 q: -0.149027 0.794931 0.172604 0.562213 
time: 1403637259.488319, t: 0.528955 0.156827 -0.358479 q: -0.156527 0.794807 0.166265 0.562260 
time: 1403637259.588319, t: 0.518770 0.179923 -0.351923 q: -0.160346 0.794871 0.162821 0.562102 
time: 1403637259.688319, t: 0.510523 0.195079 -0.347233 q: -0.156876 0.794764 0.164361 0.562783 
time: 1403637259.788319, t: 0.502341 0.203662 -0.346248 q: -0.149975 0.797647 0.168807 0.559259 
wait for imu ... 
time: 1403637259.888319, t: 0.495143 0.208184 -0.348381 q: -0.148724 0.797806 0.169464 0.559167 
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time: 1403637260.488319, t: 0.450298 0.179436 -0.440252 q: -0.121529 0.792504 0.191828 0.566012 
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time: 1403637262.288319, t: 0.390756 0.394270 -0.682820 q: -0.142145 0.793014 0.171315 0.567075 
time: 1403637262.388319, t: 0.386146 0.389022 -0.684183 q: -0.144278 0.779717 0.169850 0.585129 
time: 1403637262.488319, t: 0.383651 0.380138 -0.693317 q: -0.133183 0.796110 0.139309 0.573641 
time: 1403637262.588319, t: 0.378862 0.374098 -0.691965 q: -0.143641 0.779095 0.129376 0.596356 
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time: 1403637262.788319, t: 0.380897 0.368390 -0.697227 q: -0.140772 0.787326 0.128866 0.586255 
time: 1403637262.888319, t: 0.385492 0.377236 -0.705550 q: -0.140815 0.788486 0.129546 0.584533 
time: 1403637262.988319, t: 0.385820 0.373519 -0.709752 q: -0.140971 0.787982 0.129613 0.585160 
time: 1403637263.088319, t: 0.386129 0.373146 -0.712744 q: -0.140302 0.787937 0.129853 0.585327 
time: 1403637263.188319, t: 0.387498 0.369891 -0.714170 q: -0.140097 0.787768 0.130139 0.585541 
wait for imu ... 
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time: 1403637263.388319, t: 0.387895 0.365489 -0.713828 q: -0.140657 0.787913 0.129933 0.585257 
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time: 1403637263.788319, t: 0.379716 0.370531 -0.699599 q: -0.140362 0.788003 0.129111 0.585388 
time: 1403637263.888319, t: 0.379695 0.370446 -0.699497 q: -0.140398 0.788025 0.129072 0.585359 
time: 1403637263.988319, t: 0.379827 0.370079 -0.699701 q: -0.140130 0.788069 0.129185 0.585340 
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time: 1403637264.288319, t: 0.379978 0.369880 -0.699829 q: -0.140154 0.788167 0.129016 0.585239 
time: 1403637264.388319, t: 0.380042 0.369800 -0.699896 q: -0.140136 0.788214 0.129079 0.585166 
time: 1403637264.488319, t: 0.380403 0.369590 -0.699995 q: -0.140046 0.788196 0.129047 0.585219 
time: 1403637264.588319, t: 0.380572 0.369502 -0.699902 q: -0.140083 0.788233 0.128971 0.585177 
time: 1403637264.688319, t: 0.380655 0.369232 -0.699860 q: -0.140103 0.788222 0.128921 0.585198 
time: 1403637264.788319, t: 0.381141 0.369106 -0.699899 q: -0.140154 0.788245 0.128885 0.585162 
time: 1403637264.888319, t: 0.382086 0.368670 -0.699221 q: -0.140147 0.788307 0.128828 0.585093 
time: 1403637264.988319, t: 0.383038 0.368277 -0.698580 q: -0.140065 0.788313 0.128959 0.585076 
time: 1403637265.088319, t: 0.383961 0.367713 -0.698352 q: -0.140104 0.788361 0.129030 0.584986 
time: 1403637265.188319, t: 0.384392 0.367529 -0.698152 q: -0.140017 0.788328 0.129025 0.585053 
time: 1403637265.288319, t: 0.384685 0.367559 -0.698031 q: -0.139995 0.788361 0.129083 0.585000 
time: 1403637265.388319, t: 0.384247 0.367634 -0.698309 q: -0.139955 0.788356 0.129103 0.585013 
time: 1403637265.488319, t: 0.385414 0.367280 -0.697376 q: -0.139981 0.788393 0.129070 0.584964 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720475660.024447042]: Shutdown request received.[0m
[33m[ WARN] [1720475660.024515786]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720475660.025490336]: Shutdown request received.[0m
[33m[ WARN] [1720475660.025522434]: Reason given for shutdown: [user request][0m
killed
