/SLAM-Hive/slam_hive_results/mapping_results/2875/2083_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720477098.833999221]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720477098.835596152]: init begins[0m
[31m[ERROR] [1720477098.836586559]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/fabd506a-3d77-11ef-9b9a-0242ac110005/roslaunch-333489c905a0-119.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://333489c905a0:41249/[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] [1720477099.943405220]: 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] [1720477099.948364920]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720477099.948607986]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720477099.948632900]: ROW: 384 COL: 601 [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] [1720477099.948785757]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720477099.949034683]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://333489c905a0:11311/[0m
]2;roscore http://333489c905a0:11311/
[1msetting /run_id to fabd506a-3d77-11ef-9b9a-0242ac110005[0m
[0m[ INFO] [1720477099.989729311]: 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] [1720477108.989409713]: 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: 316839978.66 
init first imu pose
averge acc 9.438567 -0.684964 -2.448160
init R0 
  0.260071   0.260169   0.929879
         0  -0.963017    0.26944
  0.965589 -0.0700736  -0.250453
[0m[ INFO] [1720477113.592792316]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477113.954079799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477114.379519079]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477114.793828211]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720477115.551868607]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477115.979447828]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477116.380168770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477116.768374269]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477117.152679118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477117.592272024]: 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!
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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720477122.070571478]: gyroscope bias initial calibration -0.00673612  -0.0152051   0.0756761[0m
[0m[ INFO] [1720477122.120753608]: Initialization finish![0m
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time: 1403637255.938319, t: 679.880653 1651.123526 -69.854784 q: -0.055911 0.812089 0.116530 0.569039 
time: 1403637256.338319, t: 678.766714 1664.827686 -70.229765 q: -0.077297 0.802435 0.149705 0.572461 
time: 1403637256.738319, t: 748.566193 1663.780121 -72.038308 q: -0.087202 0.822127 0.135943 0.545914 
time: 1403637257.138319, t: 736.009740 1685.536127 -72.149040 q: -0.089299 0.815611 0.141921 0.553772 
time: 1403637257.538319, t: 689.452456 1704.604076 -71.954144 q: -0.089497 0.805045 0.170470 0.561100 
time: 1403637257.938319, t: 744.217236 1707.273022 -74.706085 q: -0.119867 0.821705 0.189740 0.523861 
time: 1403637258.338319, t: 697.632841 1731.254180 -73.250138 q: -0.142927 0.792398 0.235567 0.544230 
time: 1403637258.738319, t: 687.439249 1742.856903 -74.456021 q: -0.179078 0.782025 0.251370 0.541462 
time: 1403637259.138319, t: 729.666358 1746.602060 -78.901701 q: -0.198577 0.781762 0.254994 0.533286 
time: 1403637259.938319, t: 658.038067 1773.009938 -77.086473 q: -0.186517 0.777926 0.232596 0.553120 
time: 1403637260.338319, t: 667.010249 1789.388308 -77.241706 q: -0.169487 0.775541 0.251792 0.553544 
time: 1403637260.738319, t: 664.175244 1802.054575 -78.227555 q: -0.160733 0.784822 0.257980 0.540061 
time: 1403637261.138319, t: 679.226034 1819.663611 -78.492808 q: -0.165620 0.782475 0.254645 0.543561 
time: 1403637261.538319, t: 727.903923 1826.186718 -81.657455 q: -0.187628 0.787373 0.264865 0.524105 
time: 1403637261.938319, t: 721.069798 1794.109936 -93.648902 q: -0.236229 0.759723 0.292716 0.530409 
time: 1403637262.338319, t: 716.485787 1849.770226 -82.854911 q: -0.220928 0.772750 0.226115 0.550382 
time: 1403637262.738319, t: 708.077529 1868.072277 -82.795921 q: -0.173230 0.785012 0.199894 0.560169 
time: 1403637263.138319, t: 742.319642 1867.232582 -87.181044 q: -0.202830 0.779134 0.217008 0.552013 
time: 1403637263.538319, t: 772.333388 1873.083564 -86.823295 q: -0.209465 0.782089 0.222997 0.542893 
time: 1403637263.938319, t: 795.339883 1836.978343 -96.977575 q: -0.261635 0.760708 0.253765 0.537098 
time: 1403637264.338319, t: 712.156549 1914.700350 -85.536761 q: -0.173822 0.781815 0.195774 0.565883 
time: 1403637264.738319, t: 788.889705 1916.159377 -87.551983 q: -0.203753 0.785006 0.222968 0.540865 
time: 1403637265.138319, t: 823.357243 1906.321380 -88.512214 q: -0.227528 0.781514 0.238179 0.529847 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720477245.760161452]: Shutdown request received.[0m
[33m[ WARN] [1720477245.760202625]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720477245.761229764]: Shutdown request received.[0m
[33m[ WARN] [1720477245.761250763]: Reason given for shutdown: [user request][0m
killed
