/SLAM-Hive/slam_hive_results/mapping_results/2885/2093_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720478856.283309497]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720478856.285893459]: init begins[0m
[31m[ERROR] [1720478856.286988050]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1240c394-3d7c-11ef-8344-0242ac110005/roslaunch-331c2d6a2962-117.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://331c2d6a2962:40635/[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] [1720478857.389270761]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720478857.392116858]: 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] [1720478857.398118481]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720478857.398297603]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720478857.398322579]: 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] [1720478857.398497483]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720478857.398788410]: 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://331c2d6a2962:11311/[0m
]2;roscore http://331c2d6a2962:11311/
[1msetting /run_id to 1240c394-3d7c-11ef-8344-0242ac110005[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720478866.442534682]: 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: 316841736.11 
init first imu pose
averge acc 9.442349 -0.663823 -2.451513
init R0 
    0.259747     0.252397     0.932109
-6.16298e-33    -0.965239     0.261368
    0.965677   -0.0678897    -0.250718
wait for imu ... 
[0m[ INFO] [1720478877.306793488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478878.318899357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478879.308208036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478880.293916955]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478881.307116729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478882.319671407]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478883.308735009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478884.304113945]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478885.319557037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478886.307606525]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478887.309917438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478888.293900346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478889.307127264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478890.291304459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478891.324002661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478892.308922256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478893.294501330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478894.322408885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478895.302909131]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478896.308793119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478897.306214931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478898.307728895]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478899.290271045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478900.308110455]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478901.310925173]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720478904.311926051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478905.307972460]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720478908.320396145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478909.292889432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478911.310478346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478913.333487029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478914.310654638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478915.312504631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478916.321344492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478917.310464568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478918.309996360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478920.303006684]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478921.304543003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478922.322927924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478923.310001868]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720478924.304307500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478925.293305196]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478926.323083320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478927.309042684]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478931.310659208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478932.307425285]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478933.309005559]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478934.302843245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478937.310083945]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478938.320083532]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478939.299453095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478940.308611129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478941.307441031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478942.318141323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478943.305889914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478944.319231687]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478945.308279861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478946.305882423]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478947.296588084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478948.304725374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478949.306124550]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478950.304060767]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720478952.305231830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478953.294891683]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478954.311022678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478955.301713799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478956.318473405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478957.309819478]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720478973.302032055]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720478988.292602521]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478989.306628042]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478990.319045204]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478991.307207071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478992.327341932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478993.306749959]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478994.318329149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478995.306933086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478996.306714351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720478997.309994953]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720478999.289892578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479000.306271348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479001.309435458]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720479003.250642511]: Shutdown request received.[0m
[33m[ WARN] [1720479003.250682373]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720479003.251609493]: Shutdown request received.[0m
[33m[ WARN] [1720479003.251638485]: Reason given for shutdown: [user request][0m
killed
