/SLAM-Hive/slam_hive_results/mapping_results/2867/2075_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720475688.283549282]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720475688.285277116]: init begins[0m
[31m[ERROR] [1720475688.286267659]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b1fb4498-3d74-11ef-850e-0242ac110005/roslaunch-af026c0718c1-118.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://af026c0718c1:38633/[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] [1720475689.390174373]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720475689.391069651]: 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] [1720475689.397351994]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720475689.397565766]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720475689.397595195]: 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] [1720475689.397783284]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720475689.398053126]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://af026c0718c1:11311/[0m
]2;roscore http://af026c0718c1:11311/
[1msetting /run_id to b1fb4498-3d74-11ef-850e-0242ac110005[0m
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_03_medium.bag  --clock 
[0m[ INFO] [1720475698.433738830]: 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: 316838568.11 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
[0m[ INFO] [1720475700.039705488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475700.247160156]: IMU excitation not enouth![0m
[0m[ INFO] [1720475700.247348926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475700.339893921]: IMU excitation not enouth![0m
[0m[ INFO] [1720475700.340073677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475700.540928524]: IMU excitation not enouth![0m
[0m[ INFO] [1720475700.541184925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475700.739356227]: IMU excitation not enouth![0m
[0m[ INFO] [1720475700.739600951]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475700.840260386]: IMU excitation not enouth![0m
[0m[ INFO] [1720475700.840536716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475701.039515212]: IMU excitation not enouth![0m
[0m[ INFO] [1720475701.039742561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475701.245884072]: IMU excitation not enouth![0m
[0m[ INFO] [1720475701.246076744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475701.341441926]: IMU excitation not enouth![0m
[0m[ INFO] [1720475701.341663973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475701.540602138]: IMU excitation not enouth![0m
[0m[ INFO] [1720475701.540823268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475701.749015557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475701.839253409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475702.040636997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475702.236126290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475702.345511931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475702.536433935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475702.747567319]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475702.838305851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475703.037594341]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475703.246837459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475703.347641417]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475703.757028969]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475704.545881330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475704.737892391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475704.842322881]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475705.043254224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475705.262491453]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475705.358858251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475705.549852677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475705.762191219]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475705.843495081]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475706.043350123]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475706.242866994]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475706.341445946]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475706.543084065]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475706.743959751]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475706.854392889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475707.037676692]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475707.243222250]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475707.351685651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475707.552684501]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475707.755918374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475707.841423657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475708.048870007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475708.250861326]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475708.352737921]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475708.549810958]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475708.741846621]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475708.841782638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475709.042613014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475709.253824750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475709.341590597]: IMU excitation not enouth![0m
[0m[ INFO] [1720475709.341784561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475709.542599187]: IMU excitation not enouth![0m
[0m[ INFO] [1720475709.742129588]: IMU excitation not enouth![0m
[0m[ INFO] [1720475709.742324781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475709.851666205]: IMU excitation not enouth![0m
[0m[ INFO] [1720475710.038035601]: IMU excitation not enouth![0m
[0m[ INFO] [1720475710.038098708]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475710.253229676]: IMU excitation not enouth![0m
[0m[ INFO] [1720475710.347760514]: IMU excitation not enouth![0m
[0m[ INFO] [1720475710.546192079]: IMU excitation not enouth![0m
[0m[ INFO] [1720475710.546334351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475710.753185030]: IMU excitation not enouth![0m
[0m[ INFO] [1720475710.841785845]: IMU excitation not enouth![0m
[0m[ INFO] [1720475710.841934074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475711.055825956]: IMU excitation not enouth![0m
[0m[ INFO] [1720475711.055960841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475711.242424407]: IMU excitation not enouth![0m
[0m[ INFO] [1720475711.343350281]: IMU excitation not enouth![0m
[0m[ INFO] [1720475711.542503857]: IMU excitation not enouth![0m
[0m[ INFO] [1720475711.542689270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475711.749745328]: IMU excitation not enouth![0m
[0m[ INFO] [1720475711.749782896]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475711.853046297]: IMU excitation not enouth![0m
[0m[ INFO] [1720475712.053557299]: IMU excitation not enouth![0m
[0m[ INFO] [1720475712.053740722]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475712.243507688]: IMU excitation not enouth![0m
[0m[ INFO] [1720475712.352375201]: IMU excitation not enouth![0m
[0m[ INFO] [1720475712.352564619]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475712.541052543]: IMU excitation not enouth![0m
[0m[ INFO] [1720475712.736890159]: IMU excitation not enouth![0m
[0m[ INFO] [1720475712.736964389]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475712.841268358]: IMU excitation not enouth![0m
[0m[ INFO] [1720475713.040647424]: IMU excitation not enouth![0m
[0m[ INFO] [1720475713.040872453]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475713.249007352]: IMU excitation not enouth![0m
[0m[ INFO] [1720475713.249059114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475713.336611671]: IMU excitation not enouth![0m
[0m[ INFO] [1720475713.336652391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475713.541788489]: IMU excitation not enouth![0m
[0m[ INFO] [1720475713.752525021]: IMU excitation not enouth![0m
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[0m[ INFO] [1720475714.251765031]: IMU excitation not enouth![0m
[0m[ INFO] [1720475714.251957228]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475714.348877755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475714.537994018]: IMU excitation not enouth![0m
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[0m[ INFO] [1720475715.040159283]: IMU excitation not enouth![0m
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[0m[ INFO] [1720475715.744193012]: IMU excitation not enouth![0m
[0m[ INFO] [1720475715.836449641]: IMU excitation not enouth![0m
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[0m[ INFO] [1720475716.042062619]: IMU excitation not enouth![0m
[0m[ INFO] [1720475716.240065275]: IMU excitation not enouth![0m
[0m[ INFO] [1720475716.351087553]: IMU excitation not enouth![0m
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[0m[ INFO] [1720475716.741687348]: IMU excitation not enouth![0m
[0m[ INFO] [1720475716.741828068]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475717.040923990]: IMU excitation not enouth![0m
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[0m[ INFO] [1720475724.543207206]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475724.754312451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475724.842844416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475725.050719743]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475725.243771514]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475725.343384849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475725.541314262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475725.741576853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475725.839376585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475726.038237669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475726.264652678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475726.342787915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475726.542310347]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475726.739449877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475726.840116153]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475727.251743067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475727.344457062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475727.542932130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475727.749071289]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475730.241287070]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720475733.545111583]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720475736.240218422]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720475738.743630823]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720475739.250864702]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475745.547425788]: IMU excitation not enouth![0m
[0m[ INFO] [1720475745.547682466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475745.745259601]: IMU excitation not enouth![0m
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wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720475754.852910175]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720475755.752895688]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475756.246221169]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720475756.545336307]: IMU excitation not enouth![0m
[0m[ INFO] [1720475756.545495787]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475756.749585320]: IMU excitation not enouth![0m
[0m[ INFO] [1720475756.749641838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475756.843508299]: IMU excitation not enouth![0m
[0m[ INFO] [1720475756.843714020]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720475757.044147328]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720475757.244325632]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720475758.044645017]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475763.853860576]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475765.041177504]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475765.238748802]: IMU excitation not enouth![0m
[0m[ INFO] [1720475765.238822363]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475765.343798715]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720475775.341386147]: Not enough features or parallax; Move device around[0m
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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 ... 
[0m[ INFO] [1720475783.540117901]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720475787.037858797]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475789.743690218]: IMU excitation not enouth![0m
[0m[ INFO] [1720475789.842771712]: IMU excitation not enouth![0m
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[0m[ INFO] [1720475791.741698178]: IMU excitation not enouth![0m
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[0m[ INFO] [1720475814.341401216]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475814.542350976]: IMU excitation not enouth![0m
[0m[ INFO] [1720475814.542509172]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475814.741355283]: IMU excitation not enouth![0m
[0m[ INFO] [1720475814.835958925]: IMU excitation not enouth![0m
[0m[ INFO] [1720475815.054284897]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720475818.038560426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475818.241770052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475818.340632752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475818.542727614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475818.740996755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475818.837134410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475819.053143390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475819.242017243]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475819.349154732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475819.551494671]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475819.748312019]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475819.840680044]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475820.043017548]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475820.253917027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475820.352452826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475820.544356272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475820.740100397]: IMU excitation not enouth![0m
[0m[ INFO] [1720475820.840063172]: IMU excitation not enouth![0m
[0m[ INFO] [1720475821.051440466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475821.236215068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475821.342613740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475821.541292405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475821.748273027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475821.848962594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475822.045936130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475822.253446327]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475822.340921450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475822.753986494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475822.840127628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475823.053723475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475823.252225018]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475823.336830067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475823.550779672]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475823.739275458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475824.042923134]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475824.242212646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475824.353340006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475824.549937233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475824.753230069]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475824.841395896]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475825.055345748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475825.352149841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475825.539006634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475825.742075113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475825.842651076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475826.041863039]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475826.253736459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475826.341845178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475826.546712623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475826.739751112]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475826.842009334]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475827.042423275]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475827.243153283]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475827.344135443]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475827.537776379]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475827.740985529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475827.848614619]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720475828.237966346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475828.349922612]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475828.546956880]: IMU excitation not enouth![0m
[0m[ INFO] [1720475828.547102006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475828.746210690]: IMU excitation not enouth![0m
[0m[ INFO] [1720475828.746411486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475828.843649136]: IMU excitation not enouth![0m
[0m[ INFO] [1720475828.843723182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475829.043650528]: IMU excitation not enouth![0m
[0m[ INFO] [1720475829.043858776]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475829.238544252]: IMU excitation not enouth![0m
[0m[ INFO] [1720475829.333531713]: IMU excitation not enouth![0m
[0m[ INFO] [1720475829.333617713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475829.540444095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475829.736303918]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475829.842180750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475830.043497661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475830.238232581]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475830.336943920]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475830.541873489]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475830.737750275]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475830.847916475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475831.038435030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475831.234087471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475831.339231318]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720475831.736062495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475831.836451789]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475832.037885746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475832.240390583]: IMU excitation not enouth![0m
[0m[ INFO] [1720475832.336555196]: IMU excitation not enouth![0m
[0m[ INFO] [1720475832.336652808]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475832.537621540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475832.738190210]: IMU excitation not enouth![0m
[0m[ INFO] [1720475832.834426552]: IMU excitation not enouth![0m
[0m[ INFO] [1720475832.834469447]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475833.045729941]: IMU excitation not enouth![0m
[0m[ INFO] [1720475833.045861919]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475833.232997475]: IMU excitation not enouth![0m
[0m[ INFO] [1720475833.233053436]: Not enough features or parallax; Move device around[0m

[0m[ INFO] [1720475833.535668988]: IMU excitation not enouth![0m
[0m[ INFO] [1720475833.535807432]: Not enough features or parallax; Move device around[0m
wait for imu ... 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720475835.234695774]: Shutdown request received.[0m
[33m[ WARN] [1720475835.234751750]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720475835.235707468]: Shutdown request received.[0m
[33m[ WARN] [1720475835.235736343]: Reason given for shutdown: [user request][0m
killed
