/SLAM-Hive/slam_hive_results/mapping_results/2873/2081_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-11.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720476748.433240713]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720476748.436914094]: init begins[0m
[31m[ERROR] [1720476748.438077877]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/29e0bfea-3d77-11ef-bf45-0242ac110005/roslaunch-6460c2a679f9-117.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://6460c2a679f9:38659/[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 [154][0m
[0m[ INFO] [1720476749.544401835]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720476749.546515803]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://6460c2a679f9:11311/[0m
]2;roscore http://6460c2a679f9:11311/
result path /home/output/vio.csv
[33m[ WARN] [1720476749.568667069]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720476749.569069134]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720476749.569139777]: 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] [1720476749.569735835]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[1msetting /run_id to 29e0bfea-3d77-11ef-bf45-0242ac110005[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720476749.570241831]: 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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720476758.586021426]: 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: 316839628.26 
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] [1720476761.036402935]: IMU excitation not enouth![0m
[0m[ INFO] [1720476761.036713395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476761.238926108]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476761.433735143]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476761.636916528]: IMU excitation not enouth![0m
[0m[ INFO] [1720476761.838905009]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476762.033155339]: IMU excitation not enouth![0m
[0m[ INFO] [1720476762.033226480]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476762.241518947]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720476768.053274074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476768.240712821]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720476768.851701296]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476769.039828271]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720476769.641016501]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476769.840070796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476770.052781194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476770.248413831]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476770.450975974]: IMU excitation not enouth![0m
[0m[ INFO] [1720476770.641166460]: IMU excitation not enouth![0m
[0m[ INFO] [1720476770.641303284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476770.850805107]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476771.037641173]: IMU excitation not enouth![0m
[0m[ INFO] [1720476771.037766226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476771.240651906]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476771.450131039]: IMU excitation not enouth![0m
[0m[ INFO] [1720476771.450277274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476771.638730492]: IMU excitation not enouth![0m
[0m[ INFO] [1720476771.638799711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476771.849333575]: IMU excitation not enouth![0m
[0m[ INFO] [1720476772.040208875]: IMU excitation not enouth![0m
[0m[ INFO] [1720476772.240168900]: IMU excitation not enouth![0m
[0m[ INFO] [1720476772.441384122]: IMU excitation not enouth![0m
[0m[ INFO] [1720476772.638334620]: IMU excitation not enouth![0m
[0m[ INFO] [1720476772.638509547]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476772.836986353]: IMU excitation not enouth![0m
[0m[ INFO] [1720476772.837070440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476773.049861728]: IMU excitation not enouth![0m
[0m[ INFO] [1720476773.245513084]: IMU excitation not enouth![0m
[0m[ INFO] [1720476773.245576124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476773.439615881]: IMU excitation not enouth![0m
[0m[ INFO] [1720476773.439776053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476773.640455335]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476773.848981757]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476774.039048181]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476774.252327600]: IMU excitation not enouth![0m
[0m[ INFO] [1720476774.450366228]: IMU excitation not enouth![0m
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[0m[ INFO] [1720476774.641164635]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476774.834372861]: IMU excitation not enouth![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] [1720476843.636723526]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
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[0m[ INFO] [1720476886.840097949]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476887.038395107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476887.237485908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476887.639132398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476887.838242203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476888.039852677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476888.234940313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476888.440455135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476888.846610366]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476889.038930997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476889.245906794]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476889.440029618]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476889.636434536]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476889.829977505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476890.037179052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476890.237901770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476890.437026126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476890.632258351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476890.832979458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476891.045801116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476891.236470749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476891.433174839]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476891.635415716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476891.846689655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476892.043578053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476892.245407711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476892.435750337]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476892.638287984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476892.832496098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476893.036773265]: IMU excitation not enouth![0m
[0m[ INFO] [1720476893.037015815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476893.233996342]: IMU excitation not enouth![0m
[0m[ INFO] [1720476893.234133878]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476893.444639610]: IMU excitation not enouth![0m
[0m[ INFO] [1720476893.444776339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476893.645313418]: IMU excitation not enouth![0m
[0m[ INFO] [1720476893.645552627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476893.837817592]: IMU excitation not enouth![0m
[0m[ INFO] [1720476893.837982422]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720476895.384107631]: Shutdown request received.[0m
[33m[ WARN] [1720476895.384156885]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720476895.385108965]: Shutdown request received.[0m
[33m[ WARN] [1720476895.385159509]: Reason given for shutdown: [user request][0m
killed
