/SLAM-Hive/slam_hive_results/mapping_results/2879/2087_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720477801.563153990]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720477801.563997680]: init begins[0m
[31m[ERROR] [1720477801.564997578]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9d986b98-3d79-11ef-a1c6-0242ac110005/roslaunch-c21257c9e7ba-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://c21257c9e7ba:45735/[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
[1mROS_MASTER_URI=http://c21257c9e7ba:11311/[0m
]2;roscore http://c21257c9e7ba:11311/
[1msetting /run_id to 9d986b98-3d79-11ef-a1c6-0242ac110005[0m
[0m[ INFO] [1720477802.719010767]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720477802.720405665]: 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] [1720477802.727454689]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720477802.727707561]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720477802.727762130]: 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] [1720477802.728057485]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720477802.728361666]: 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 [220][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720477811.713642884]: 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: 316840681.38 
init first imu pose
averge acc 9.438567 -0.684964 -2.448160
init R0 
[0m[ INFO] [1720477816.265370796]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477821.063262233]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477823.081489576]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477823.462274739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477823.870243836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477824.668736281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477825.075639226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477825.479485805]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477825.892844644]: IMU excitation not enouth![0m
[0m[ INFO] [1720477826.270817362]: IMU excitation not enouth![0m
[0m[ INFO] [1720477826.670958881]: IMU excitation not enouth![0m
[0m[ INFO] [1720477826.671191112]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477827.080030443]: IMU excitation not enouth![0m
[0m[ INFO] [1720477827.080175443]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477827.468627160]: IMU excitation not enouth![0m
[0m[ INFO] [1720477827.468801581]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477827.869807310]: IMU excitation not enouth![0m
[0m[ INFO] [1720477827.869964436]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477828.269906978]: IMU excitation not enouth![0m
[0m[ INFO] [1720477828.270154734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477828.675428023]: IMU excitation not enouth![0m
[0m[ INFO] [1720477828.675517159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477829.069542166]: IMU excitation not enouth![0m
[0m[ INFO] [1720477829.069696042]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477829.468991206]: IMU excitation not enouth![0m
[0m[ INFO] [1720477829.469228168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477829.880313195]: IMU excitation not enouth![0m
[0m[ INFO] [1720477829.880550755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477830.270036411]: IMU excitation not enouth![0m
[0m[ INFO] [1720477830.270208848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477830.678507953]: IMU excitation not enouth![0m
[0m[ INFO] [1720477830.678675062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477831.064817670]: IMU excitation not enouth![0m
[0m[ INFO] [1720477831.064897042]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477831.469720707]: IMU excitation not enouth![0m
[0m[ INFO] [1720477831.469900529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477831.881239662]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477832.268940474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477832.674312900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477833.068884794]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477833.469412844]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477833.870015233]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477835.470833447]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477835.865903693]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477837.881184172]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477842.671780135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477843.063479744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477843.479288857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477843.872444382]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477844.269562898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477844.668935066]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477846.680164056]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477847.484766815]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477853.474814278]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477857.073900845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477857.472976256]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477858.272621283]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477858.674038001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477859.078605543]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477867.883718351]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477868.273335532]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477869.075672030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477869.483536504]: Not enough features or parallax; Move device around[0m
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wait for imu ... 
[0m[ INFO] [1720477870.663631128]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477880.277501166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477880.679359702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477881.072381188]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477881.873562602]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477882.272360376]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477883.071417808]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477883.466078412]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477885.471511474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477885.881254678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477886.282910329]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477886.671926131]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477887.067949167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477887.487871707]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477887.867012577]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477888.672115117]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477889.081485377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477889.463562381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477889.871466688]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477890.276861344]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477891.072914912]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477892.277406018]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477892.673714075]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477893.072245422]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477893.867636494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477894.275169661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477894.672161820]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477895.067827784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477895.472651915]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720477901.069013745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477901.486765274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477901.874330928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477902.263138137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477902.685353788]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477903.075484490]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477903.472188849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477903.874244045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477904.284205148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477904.668964014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477905.062027157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477905.465774949]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477905.870338962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477906.278139193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477906.667990394]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477907.069811748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477907.475874168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477907.869158125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477908.269423883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477908.671638457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477909.070550088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477909.471339315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477909.870741557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477910.270877253]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477910.680965714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477911.080824206]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477911.475698297]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477911.871260325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477912.271733979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477912.676896307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477913.073502655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477913.469851871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477913.884715001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477914.279860707]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477914.681578381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477915.070075065]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477915.469452275]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477915.881596935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477916.261308050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477916.667977114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477917.073029300]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477917.468846653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477917.868904227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477918.267633437]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477918.667099187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477919.076388500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477919.467997872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477919.873510974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477920.266922199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477920.674954560]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477921.066952308]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477921.869594767]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477922.271107925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477922.671520054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477923.068999027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477923.480399552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477923.890495536]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477924.270327979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477924.670092015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477925.066445386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477925.480841491]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477925.868748819]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477926.273742922]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477926.671345070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477927.068062498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477927.468012750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477927.869213404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477928.260964330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477928.668876667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477929.082670897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477929.480886552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477929.870655343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477930.267442500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477930.668648973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477931.470336025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477931.870383579]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477932.262038916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477932.669319761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477933.082975129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477933.468369627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477933.868382517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477934.273159239]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477934.681780409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477935.067763842]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477935.470680872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477935.880790364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477936.280393226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477936.670921816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477937.067900098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477937.472247395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477937.869564053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477938.261904908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477938.666717399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477939.067640300]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477939.480439446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477939.866709693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477940.268191149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477940.669162803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477941.074670630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477941.479698301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477941.866355490]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477942.274420361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477942.658437771]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477943.056028211]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477943.466056642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477943.863956728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477944.267189296]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720477944.668857049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477945.066928444]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477945.466011280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477945.865072982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477946.264550294]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477946.666170052]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720477948.550357647]: Shutdown request received.[0m
[33m[ WARN] [1720477948.550391447]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720477948.551189556]: Shutdown request received.[0m
[33m[ WARN] [1720477948.551213622]: Reason given for shutdown: [user request][0m
killed
