/SLAM-Hive/slam_hive_results/mapping_results/2888/2096_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720479383.922826578]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720479383.924647630]: init begins[0m
[31m[ERROR] [1720479383.925649590]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4cc10d0c-3d7d-11ef-954f-0242ac110005/roslaunch-0835a0e79520-119.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://0835a0e79520:45295/[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] [1720479385.029546598]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720479385.030356207]: 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] [1720479385.036312556]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720479385.036542609]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720479385.036569819]: ROW: 288 COL: 451 [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] [1720479385.036726171]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720479385.037017301]: 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://0835a0e79520:11311/[0m
]2;roscore http://0835a0e79520:11311/
[1msetting /run_id to 4cc10d0c-3d7d-11ef-954f-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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720479394.070319438]: 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: 316842263.74 
init first imu pose
averge acc 9.443749 -0.647051 -2.458075
init R0 
  0.259903   0.245815   0.933823
         0  -0.967056   0.254563
  0.965635 -0.0661618  -0.251341
[0m[ INFO] [1720479415.454651093]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720479421.459222798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479423.453980421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479425.433422281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479427.462281843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479429.457776565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479431.459632697]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479433.471139115]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479435.440139808]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479437.467439293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479439.468842635]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479441.470829439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479443.448177281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479445.477669979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479447.431057663]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479449.435353690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479451.485856183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479453.453382816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479455.464833266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479457.468403798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479459.457504611]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479461.459358101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479463.457981496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479465.432653039]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479467.465224862]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479469.431896160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479471.477875169]: 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] [1720479475.476178803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479477.430143680]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479479.427901484]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479481.426318645]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479483.447486723]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479485.466560913]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479487.470513682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479489.467383875]: 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] [1720479495.471502505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479497.466034891]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479499.434232935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479501.464765642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479503.427019414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479505.455843886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479507.461932299]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479509.446213523]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479511.472890592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479513.457353879]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479515.461320818]: 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] [1720479521.469895419]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479523.458320786]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479525.430349966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479527.464198077]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720479530.895053079]: Shutdown request received.[0m
[33m[ WARN] [1720479530.895098452]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720479530.895885934]: Shutdown request received.[0m
[33m[ WARN] [1720479530.895933000]: Reason given for shutdown: [user request][0m
killed
