/SLAM-Hive/slam_hive_results/mapping_results/2884/2092_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720478681.494546558]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720478681.496041932]: init begins[0m
[31m[ERROR] [1720478681.497206111]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/aa12d29e-3d7b-11ef-8aaa-0242ac110005/roslaunch-07f71e2f4c5c-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://07f71e2f4c5c:38615/[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] [1720478682.600586912]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720478682.602879724]: 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] [1720478682.608640146]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720478682.608842443]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720478682.608869642]: 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] [1720478682.609056268]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720478682.609315484]: 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://07f71e2f4c5c:11311/[0m
]2;roscore http://07f71e2f4c5c:11311/
[1msetting /run_id to aa12d29e-3d7b-11ef-8aaa-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] [1720478691.622556853]: 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: 316841561.29 
init first imu pose
averge acc 9.442349 -0.663823 -2.451513
init R0 
[0m[ INFO] [1720478702.496899431]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478703.487454532]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478704.505433813]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478705.496325628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478706.495572005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478707.515665111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478708.495900794]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478709.503975410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478710.506385544]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478711.497058396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478712.496735496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478713.497527925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478714.479567324]: 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] [1720478716.524897313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478717.495127714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478718.496312592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478719.525646200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478720.507926185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478721.495507957]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478722.482286700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478723.497757229]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478724.479905249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478725.497758664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478726.485026195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478727.497350515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478728.497646862]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478729.498677575]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478730.495551913]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478731.499579238]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478732.500191316]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478733.500740264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478734.499049062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478735.500861196]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478736.478180733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478737.502981915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478738.515021097]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478739.508461434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478740.499580412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478741.508807992]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478742.478035824]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478743.498003917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478744.497662273]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478745.497210157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478746.497386776]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478747.488775506]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478748.497220629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478749.496913701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478750.497295571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478751.510144763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478752.494584242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478753.479205214]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478754.494047177]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478755.493546743]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478756.497776625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478757.497328212]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478758.480758328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478759.498830747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478760.497352312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478761.497382624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478762.499996205]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478763.511926686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478764.521868290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478765.498556898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478766.495806583]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478767.520773895]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720478769.494528929]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720478771.480286215]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478772.496661569]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478773.485993750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478774.486964906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478775.512537262]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720478776.497710870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478777.496862313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478778.490017671]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478779.485973315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478780.484017111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478781.506445793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478782.498707740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478783.487294711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478784.496086527]: 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!
[0m[ INFO] [1720478788.551533600]: 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] [1720478791.503805596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478792.507753145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478793.506549849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478794.495954099]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478795.496243997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478796.507161962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478797.499574103]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478798.494791724]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478799.473200353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478800.501657405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478801.494113093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478802.504352529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478803.476676890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478804.505009251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478805.473769060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478806.495872440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478807.495564665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478808.504682819]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478809.497602457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478810.474016803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478811.494739303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478812.495198004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478813.505809138]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720478815.509072744]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720478817.518264135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478818.474706192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478819.505383460]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478820.481886296]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478821.478211795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478822.504209825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478823.496231667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478824.498049058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478825.494460462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478826.498710786]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720478828.346211634]: Shutdown request received.[0m
[33m[ WARN] [1720478828.346259167]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720478828.347115918]: Shutdown request received.[0m
[33m[ WARN] [1720478828.347143210]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/aa12d29e-3d7b-11ef-8aaa-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
