/SLAM-Hive/slam_hive_results/mapping_results/2872/2080_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720476572.264068885]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720476572.266419362]: init begins[0m
[31m[ERROR] [1720476572.267470119]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c0df91b0-3d76-11ef-866f-0242ac110005/roslaunch-2bd233c93cfb-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://2bd233c93cfb:32905/[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] [1720476573.370428227]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720476573.372778753]: 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] [1720476573.378878441]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720476573.379102411]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720476573.379127739]: 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] [1720476573.379289846]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720476573.379533276]: 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://2bd233c93cfb:11311/[0m
]2;roscore http://2bd233c93cfb:11311/
[1msetting /run_id to c0df91b0-3d76-11ef-866f-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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720476582.415420944]: 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: 316839452.09 
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] [1720476584.873247573]: IMU excitation not enouth![0m
[0m[ INFO] [1720476584.873566881]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476585.080150606]: IMU excitation not enouth![0m
[0m[ INFO] [1720476585.080717620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476585.277870104]: IMU excitation not enouth![0m
[0m[ INFO] [1720476585.278160318]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476585.481655297]: IMU excitation not enouth![0m
[0m[ INFO] [1720476585.686299388]: IMU excitation not enouth![0m
[0m[ INFO] [1720476585.686504029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476585.882548543]: IMU excitation not enouth![0m
[0m[ INFO] [1720476585.997585230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476586.116441734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476586.300999753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476586.472888889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476586.708359294]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476586.878986496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476587.077467624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476587.280667318]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476587.482094263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476587.722239415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476587.877221713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476588.081049257]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476588.294762565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476588.493859610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476588.696318678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476588.894242093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476589.112003795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476589.283269932]: 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!
[0m[ INFO] [1720476589.676111482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476589.923049212]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476590.086683640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476590.282555402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476590.496686837]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476590.694892353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476590.876357045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476591.084067147]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476591.282859145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476591.683092092]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476591.896114659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476592.097614986]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476592.307991862]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476592.523226538]: 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!
[0m[ INFO] [1720476592.924200537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476593.123422449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476593.325982312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476593.486812970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476593.716052488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476593.912334464]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476594.133248756]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476594.338057499]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476594.531331630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476594.732104802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476594.930162978]: 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!
[0m[ INFO] [1720476595.344366241]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476595.524315927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476595.740446619]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476595.921622946]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476596.131434416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476596.325411522]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476596.530689015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476596.725685006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476596.944672512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476597.131371947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476597.333867189]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720476597.697729469]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476597.882236834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476598.098613401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476598.332437914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476598.519330074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476598.727365442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476598.934178467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476599.087523255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476599.309917323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476599.527944583]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476599.717982034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476599.927377310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476600.099496582]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476600.308501845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476600.483374293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476600.713880643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476600.925347520]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476601.123378441]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476601.321404548]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720476601.773107579]: gyroscope bias initial calibration -0.000574354    0.0222998     0.079833[0m
[0m[ INFO] [1720476601.822908523]: Initialization finish![0m
time: 1403637149.438319, t: -0.007569 -0.011432 -0.018715 q: -0.055313 0.796001 0.016204 0.602545 
time: 1403637149.638319, t: -0.008883 -0.011983 -0.019087 q: -0.057176 0.800258 0.024822 0.596408 
time: 1403637149.838319, t: -0.010040 -0.015075 -0.019056 q: -0.062809 0.808323 0.036982 0.584210 
time: 1403637150.038319, t: -0.007574 -0.034266 -0.012532 q: -0.048232 0.829849 0.046792 0.553928 
time: 1403637150.238319, t: 0.011796 -0.065134 0.023615 q: -0.026920 0.837650 0.051297 0.543126 
time: 1403637150.438319, t: 0.060605 -0.092530 0.081029 q: -0.024625 0.825022 0.042182 0.562986 
time: 1403637150.638319, t: 0.120698 -0.117594 0.135352 q: -0.021210 0.819448 0.036033 0.571626 
time: 1403637150.838319, t: 0.184164 -0.138116 0.180636 q: -0.017075 0.817870 0.034554 0.574111 
time: 1403637151.038319, t: 0.246715 -0.155130 0.217635 q: -0.016536 0.808999 0.034943 0.586537 
time: 1403637151.238319, t: 0.297211 -0.171903 0.244602 q: -0.018034 0.805236 0.037537 0.591490 
time: 1403637151.438319, t: 0.333602 -0.183043 0.287169 q: -0.033281 0.814338 0.030935 0.578610 
time: 1403637151.638319, t: 0.368979 -0.196640 0.344710 q: -0.029099 0.816021 0.037027 0.576100 
time: 1403637151.838319, t: 0.403077 -0.216310 0.392398 q: -0.026805 0.816146 0.040646 0.575792 
time: 1403637152.038319, t: 0.444804 -0.246137 0.424006 q: -0.026339 0.816504 0.042085 0.575201 
time: 1403637152.238319, t: 0.491660 -0.276591 0.468902 q: -0.029792 0.818639 0.040585 0.572097 
time: 1403637152.438319, t: 0.538257 -0.306612 0.489618 q: -0.031223 0.819895 0.040366 0.570235 
time: 1403637152.638319, t: 0.587806 -0.337725 0.488221 q: -0.030141 0.819711 0.041286 0.570492 
time: 1403637152.838319, t: 0.646391 -0.373359 0.484054 q: -0.033707 0.815601 0.038837 0.576325 
time: 1403637153.038319, t: 0.696328 -0.411616 0.510739 q: -0.032506 0.813050 0.040783 0.579854 
time: 1403637153.238319, t: 0.743870 -0.451684 0.535607 q: -0.027814 0.815878 0.042619 0.575980 
time: 1403637153.438319, t: 0.785164 -0.493232 0.539960 q: -0.024006 0.817348 0.044670 0.573909 
time: 1403637153.638319, t: 0.831319 -0.531537 0.564333 q: -0.022065 0.821366 0.045028 0.568193 
time: 1403637153.838319, t: 0.877763 -0.559347 0.605301 q: -0.023310 0.817896 0.043830 0.573220 
time: 1403637154.038319, t: 0.932583 -0.589439 0.626366 q: -0.023217 0.816651 0.043544 0.575019 
time: 1403637154.238319, t: 0.989500 -0.618841 0.613807 q: -0.041249 0.827287 0.030238 0.559447 
time: 1403637154.438319, t: 1.049842 -0.655429 0.581889 q: -0.042292 0.828008 0.027728 0.558431 
time: 1403637154.638319, t: 1.118791 -0.707445 0.546257 q: -0.024837 0.823392 0.036019 0.565784 
time: 1403637154.838319, t: 1.196104 -0.762449 0.514585 q: -0.004254 0.831646 0.030937 0.554427 
time: 1403637155.038319, t: 1.289072 -0.812238 0.502369 q: 0.006641 0.833532 0.010715 0.552327 
time: 1403637155.238319, t: 1.401479 -0.859111 0.523655 q: 0.017807 0.824652 -0.013260 0.565205 
time: 1403637155.438319, t: 1.519488 -0.900023 0.559162 q: 0.026628 0.816663 -0.030114 0.575713 
time: 1403637155.638319, t: 1.630590 -0.942700 0.567697 q: 0.034703 0.812422 -0.059334 0.579004 
time: 1403637155.838319, t: 1.727021 -0.988893 0.549037 q: 0.041309 0.810433 -0.090772 0.577280 
time: 1403637156.038319, t: 1.815595 -1.052131 0.509469 q: 0.066085 0.808404 -0.129484 0.570394 
time: 1403637156.238319, t: 1.895094 -1.130601 0.471770 q: 0.089375 0.796336 -0.175894 0.571771 
time: 1403637156.438319, t: 1.950928 -1.225697 0.437701 q: 0.118925 0.784625 -0.223495 0.565924 
time: 1403637156.638319, t: 1.986394 -1.333866 0.399629 q: 0.152836 0.769538 -0.265842 0.560161 
time: 1403637156.838319, t: 2.001966 -1.452230 0.338728 q: 0.186894 0.761054 -0.295610 0.546335 
time: 1403637157.038319, t: 2.008766 -1.574879 0.258539 q: 0.203164 0.764646 -0.306087 0.529482 
time: 1403637157.238319, t: 2.026354 -1.702775 0.179107 q: 0.197270 0.765037 -0.311674 0.527885 
time: 1403637157.438319, t: 2.051770 -1.852683 0.129845 q: 0.181068 0.763593 -0.314321 0.534175 
time: 1403637157.638319, t: 2.071350 -2.022921 0.116597 q: 0.166797 0.764367 -0.312100 0.538995 
time: 1403637157.838319, t: 2.096593 -2.229853 0.132930 q: 0.165373 0.763562 -0.302961 0.545747 
time: 1403637158.038319, t: 2.109871 -2.454759 0.141872 q: 0.176840 0.761809 -0.289779 0.551727 
time: 1403637158.238319, t: 2.111202 -2.684778 0.154237 q: 0.182667 0.761646 -0.283533 0.553296 
time: 1403637158.438319, t: 2.096648 -2.910711 0.181505 q: 0.190534 0.755968 -0.298442 0.550583 
time: 1403637158.638319, t: 2.067659 -3.137583 0.190223 q: 0.199636 0.739586 -0.335938 0.547999 
time: 1403637158.838319, t: 2.016925 -3.359397 0.170747 q: 0.220660 0.726806 -0.370524 0.534578 
time: 1403637159.038319, t: 1.941591 -3.575978 0.153212 q: 0.239798 0.727331 -0.381375 0.517726 
time: 1403637159.238319, t: 1.857830 -3.799163 0.147733 q: 0.236586 0.722836 -0.389407 0.519516 
time: 1403637159.438319, t: 1.761283 -4.012228 0.123133 q: 0.230072 0.722318 -0.390766 0.522136 
time: 1403637159.638319, t: 1.663888 -4.248747 0.086044 q: 0.236342 0.729996 -0.380774 0.516004 
time: 1403637159.838319, t: 1.563656 -4.479092 0.056575 q: 0.244242 0.732840 -0.373407 0.513671 
time: 1403637160.038319, t: 1.459241 -4.707822 0.040521 q: 0.258515 0.722311 -0.392952 0.506976 
time: 1403637160.238319, t: 1.360946 -4.939674 0.017125 q: 0.283071 0.694722 -0.428032 0.504004 
time: 1403637160.438319, t: 1.231162 -5.152606 -0.018969 q: 0.315669 0.665968 -0.470794 0.484966 
time: 1403637160.638319, t: 1.118611 -5.381679 -0.071255 q: 0.352497 0.639260 -0.512762 0.451848 
time: 1403637160.838319, t: 1.000965 -5.592927 -0.122001 q: 0.369535 0.623184 -0.541253 0.426768 
time: 1403637161.038319, t: 0.918569 -5.819213 -0.134983 q: 0.366885 0.615126 -0.557823 0.419344 
time: 1403637161.238319, t: 0.844916 -6.057216 -0.101621 q: 0.353096 0.597474 -0.570337 0.439391 
time: 1403637161.438319, t: 0.743155 -6.300680 -0.039874 q: 0.350846 0.591727 -0.571456 0.447442 
time: 1403637161.638319, t: 0.597944 -6.565710 0.031285 q: 0.365462 0.586011 -0.578122 0.434515 
time: 1403637161.838319, t: 0.443049 -6.814516 0.095283 q: -0.396508 -0.567660 0.574875 -0.435961 
time: 1403637162.038319, t: 0.283984 -7.032568 0.141362 q: -0.428647 -0.546625 0.564567 -0.445789 
time: 1403637162.238319, t: 0.120083 -7.206188 0.157574 q: -0.423794 -0.537606 0.572009 -0.451868 
time: 1403637162.438319, t: -0.052931 -7.348361 0.143377 q: -0.401819 -0.537962 0.585594 -0.454113 
time: 1403637162.638319, t: -0.248710 -7.448602 0.130435 q: -0.396598 -0.553610 0.587849 -0.436646 
time: 1403637162.838319, t: -0.473598 -7.528072 0.137066 q: -0.420851 -0.527469 0.584165 -0.451012 
time: 1403637163.038319, t: -0.715133 -7.572851 0.124106 q: -0.451567 -0.500996 0.603988 -0.424604 
time: 1403637163.238319, t: -0.966310 -7.575027 0.095061 q: -0.486761 -0.461503 0.634992 -0.383228 
time: 1403637163.438319, t: -1.200545 -7.533637 0.050031 q: 0.506872 0.413793 -0.669234 0.352112 
time: 1403637163.638319, t: -1.415127 -7.440948 0.003308 q: -0.495550 -0.380920 0.707113 -0.330638 
time: 1403637163.838319, t: -1.646118 -7.327063 -0.008766 q: -0.477417 -0.365517 0.730861 -0.322976 
time: 1403637164.038319, t: -1.906369 -7.191592 0.013965 q: -0.475213 -0.355022 0.734029 -0.330656 
time: 1403637164.238319, t: -2.197652 -7.028816 0.067597 q: -0.485091 -0.360174 0.725244 -0.330126 
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time: 1403637264.838319, t: 0.497814 -0.048100 -0.422968 q: -0.168867 0.780725 0.167697 0.577780 
time: 1403637265.038319, t: 0.497236 -0.048612 -0.422452 q: -0.168983 0.780775 0.167658 0.577691 
time: 1403637265.238319, t: 0.497266 -0.048380 -0.422699 q: -0.168773 0.780839 0.167624 0.577674 
time: 1403637265.438319, t: 0.497527 -0.048496 -0.422641 q: -0.168886 0.780869 0.167641 0.577597 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720476719.244046341]: Shutdown request received.[0m
[33m[ WARN] [1720476719.244097329]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720476719.245092130]: Shutdown request received.[0m
[33m[ WARN] [1720476719.245118201]: Reason given for shutdown: [user request][0m
killed
