/SLAM-Hive/slam_hive_results/mapping_results/2871/2079_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720476396.747725664]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720476396.749212629]: init begins[0m
[31m[ERROR] [1720476396.750186651]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5842c834-3d76-11ef-a4be-0242ac110005/roslaunch-94be9837dc24-118.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://94be9837dc24:35387/[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] [1720476397.904582017]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720476397.907431023]: 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] [1720476397.913226962]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720476397.913426923]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720476397.913459119]: 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] [1720476397.913652301]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720476397.913901546]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://94be9837dc24:11311/[0m
]2;roscore http://94be9837dc24:11311/
[1msetting /run_id to 5842c834-3d76-11ef-a4be-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] [1720476406.902906450]: 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: 316839276.58 
init first imu pose
averge acc 9.440873 -0.712109 -2.412774
init R0 
  0.257481   0.273526   0.926762
         0  -0.959099    0.28307
  0.966283 -0.0728851   -0.24695
[0m[ INFO] [1720476409.373319169]: IMU excitation not enouth![0m
[0m[ INFO] [1720476409.373760465]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476409.559409342]: IMU excitation not enouth![0m
[0m[ INFO] [1720476409.559594898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476409.773966210]: IMU excitation not enouth![0m
[0m[ INFO] [1720476409.974726106]: IMU excitation not enouth![0m
[0m[ INFO] [1720476410.172723178]: IMU excitation not enouth![0m
[0m[ INFO] [1720476410.372297745]: IMU excitation not enouth![0m
[0m[ INFO] [1720476410.490348201]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720476410.716251741]: gyroscope bias initial calibration -0.0043537  0.0283529  0.0757445[0m
[0m[ INFO] [1720476410.761126036]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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wait for imu ... 
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optimize pose graph 
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time: 1403637253.038319, t: 2.678040 -1.947993 -0.144889 q: 0.019922 0.814542 -0.054581 0.577188 
time: 1403637253.238319, t: 2.641026 -1.927767 -0.133206 q: 0.024529 0.810390 -0.053426 0.582934 
time: 1403637253.438319, t: 2.600585 -1.909984 -0.137363 q: 0.023867 0.809955 -0.055758 0.583347 
optimize pose graph 
time: 1403637253.638319, t: 2.550936 -1.901009 -0.159669 q: 0.027898 0.810729 -0.053876 0.582269 
time: 1403637253.838319, t: 2.494758 -1.893140 -0.159475 q: 0.035451 0.808530 -0.049123 0.585328 
time: 1403637254.038319, t: 2.431851 -1.881474 -0.136854 q: 0.038316 0.807532 -0.047321 0.586672 
time: 1403637254.238319, t: 2.364606 -1.857548 -0.090745 q: 0.032846 0.808495 -0.038378 0.586331 
time: 1403637254.438319, t: 2.282111 -1.828686 -0.033116 q: 0.022802 0.815822 -0.022092 0.577431 
time: 1403637254.638319, t: 2.205243 -1.790151 0.008103 q: 0.016169 0.817819 -0.012581 0.575111 
time: 1403637254.838319, t: 2.128402 -1.746837 0.028001 q: 0.011208 0.812725 -0.009412 0.582464 
time: 1403637255.038319, t: 2.050673 -1.700843 0.025349 q: 0.008637 0.809130 -0.008764 0.587501 
time: 1403637255.238319, t: 1.966783 -1.649458 0.019485 q: -0.001985 0.808767 0.003179 0.588117 
time: 1403637255.438319, t: 1.871365 -1.594816 0.035075 q: -0.016746 0.808746 0.017620 0.587655 
time: 1403637255.638319, t: 1.771975 -1.537336 0.035202 q: -0.030374 0.808678 0.044733 0.585761 
time: 1403637255.838319, t: 1.662687 -1.478744 0.029521 q: -0.048929 0.810872 0.081445 0.577459 
time: 1403637256.038319, t: 1.550036 -1.414588 0.053250 q: -0.070076 0.810074 0.114094 0.570835 
time: 1403637256.238319, t: 1.432149 -1.346844 0.096437 q: -0.079261 0.804115 0.130050 0.574633 
time: 1403637256.438319, t: 1.318784 -1.275770 0.117720 q: -0.080619 0.799823 0.134649 0.579356 
time: 1403637256.638319, t: 1.195382 -1.197733 0.114675 q: -0.080027 0.801000 0.131038 0.578639 
time: 1403637256.838319, t: 1.066849 -1.113476 0.088266 q: -0.095211 0.814136 0.114222 0.561312 
time: 1403637257.038319, t: 0.954779 -1.033648 0.064993 q: -0.096834 0.807902 0.123547 0.568026 
time: 1403637257.238319, t: 0.838040 -0.959163 0.065640 q: -0.099290 0.803068 0.141356 0.570300 
time: 1403637257.438319, t: 0.722814 -0.878687 0.093317 q: -0.100897 0.803440 0.154832 0.565977 
time: 1403637257.638319, t: 0.611444 -0.799239 0.109388 q: -0.102271 0.805706 0.160868 0.560803 
time: 1403637257.838319, t: 0.507271 -0.709168 0.098867 q: -0.109134 0.812234 0.166339 0.548358 
time: 1403637258.038319, t: 0.405527 -0.613892 0.072905 q: -0.125940 0.811904 0.182708 0.539972 
time: 1403637258.238319, t: 0.330493 -0.506545 0.062006 q: -0.146898 0.797526 0.214593 0.544356 
time: 1403637258.438319, t: 0.273477 -0.390073 0.058170 q: -0.164553 0.784448 0.234868 0.549909 
time: 1403637258.638319, t: 0.228867 -0.278234 0.030934 q: -0.181106 0.785179 0.237694 0.542398 
time: 1403637258.838319, t: 0.178601 -0.175053 -0.007635 q: -0.184069 0.779761 0.238501 0.548825 
time: 1403637259.038319, t: 0.138898 -0.087255 -0.036887 q: -0.188226 0.780025 0.233675 0.549115 
time: 1403637259.238319, t: 0.099695 -0.004644 -0.020450 q: -0.186783 0.779875 0.231476 0.550750 
time: 1403637259.438319, t: 0.064273 0.059361 0.007853 q: -0.190988 0.780739 0.225359 0.550621 
time: 1403637259.638319, t: 0.025182 0.104997 0.022485 q: -0.198498 0.780958 0.218240 0.550522 
time: 1403637259.838319, t: 0.013490 0.110461 0.024154 q: -0.185965 0.784166 0.226568 0.546963 
time: 1403637260.038319, t: 0.004784 0.108546 0.010370 q: -0.190298 0.780588 0.223719 0.551742 
time: 1403637260.238319, t: -0.001866 0.084876 -0.018445 q: -0.178570 0.779636 0.233418 0.552989 
time: 1403637260.438319, t: -0.015524 0.068565 -0.056899 q: -0.162464 0.775449 0.246127 0.558306 
time: 1403637260.638319, t: -0.035015 0.061965 -0.103539 q: -0.160471 0.786401 0.248313 0.542368 
time: 1403637260.838319, t: -0.053936 0.071110 -0.149211 q: -0.166594 0.782703 0.244848 0.547423 
time: 1403637261.038319, t: -0.074556 0.086232 -0.194473 q: -0.171399 0.775940 0.242871 0.556376 
time: 1403637261.238319, t: -0.098947 0.103474 -0.239189 q: -0.167174 0.788156 0.245723 0.538965 
time: 1403637261.438319, t: -0.115913 0.129673 -0.262666 q: -0.171576 0.784570 0.241948 0.544493 
time: 1403637261.638319, t: -0.127922 0.158660 -0.272759 q: -0.170862 0.791470 0.241744 0.534735 
time: 1403637261.838319, t: -0.123515 0.195451 -0.263060 q: -0.168381 0.787668 0.242282 0.540857 
time: 1403637262.038319, t: -0.115001 0.235533 -0.261962 q: -0.173735 0.778923 0.236409 0.554262 
time: 1403637262.238319, t: -0.107945 0.268986 -0.296373 q: -0.180175 0.778109 0.229235 0.556358 
time: 1403637262.438319, t: -0.113092 0.261434 -0.312139 q: -0.173969 0.776239 0.213053 0.567271 
time: 1403637262.638319, t: -0.117888 0.250480 -0.318471 q: -0.183980 0.767336 0.182402 0.586580 
time: 1403637262.838319, t: -0.117145 0.251074 -0.325745 q: -0.180792 0.775932 0.185280 0.575252 
time: 1403637263.038319, t: -0.111945 0.251291 -0.313766 q: -0.180679 0.776579 0.185720 0.574272 
time: 1403637263.238319, t: -0.115093 0.253686 -0.314115 q: -0.181291 0.776730 0.185219 0.574037 
time: 1403637263.438319, t: -0.113471 0.254697 -0.314706 q: -0.181233 0.776704 0.185299 0.574064 
time: 1403637263.638319, t: -0.113501 0.254716 -0.314823 q: -0.181231 0.776752 0.185226 0.574023 
time: 1403637263.838319, t: -0.113359 0.254538 -0.314883 q: -0.180774 0.776712 0.185420 0.574159 
time: 1403637264.038319, t: -0.113278 0.254701 -0.314853 q: -0.181265 0.776842 0.185061 0.573944 
time: 1403637264.238319, t: -0.113348 0.254659 -0.314812 q: -0.181355 0.776940 0.184946 0.573821 
time: 1403637264.438319, t: -0.113344 0.254615 -0.314759 q: -0.181249 0.776925 0.185017 0.573851 
time: 1403637264.638319, t: -0.113336 0.254551 -0.314774 q: -0.181207 0.776941 0.184954 0.573863 
time: 1403637264.838319, t: -0.113492 0.254447 -0.314577 q: -0.181090 0.776999 0.184973 0.573816 
time: 1403637265.038319, t: -0.113506 0.254376 -0.314482 q: -0.181211 0.777066 0.184886 0.573715 
time: 1403637265.238319, t: -0.113564 0.254334 -0.314414 q: -0.181123 0.777130 0.184896 0.573653 
time: 1403637265.438319, t: -0.113633 0.254318 -0.314389 q: -0.181185 0.777152 0.184881 0.573607 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720476543.818883411]: Shutdown request received.[0m
[33m[ WARN] [1720476543.818937789]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720476543.819749004]: Shutdown request received.[0m
[33m[ WARN] [1720476543.819793171]: Reason given for shutdown: [user request][0m
killed
