/SLAM-Hive/slam_hive_results/mapping_results/2889/2097_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720479559.116343116]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720479559.118558394]: init begins[0m
[31m[ERROR] [1720479559.119566595]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b52d9cde-3d7d-11ef-84c4-0242ac110005/roslaunch-23dabdcb90de-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://23dabdcb90de:42863/[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] [1720479560.223331968]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720479560.225011556]: 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] [1720479560.230893401]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720479560.231097237]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720479560.231119322]: ROW: 240 COL: 376 [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] [1720479560.231269201]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720479560.231535988]: 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://23dabdcb90de:11311/[0m
]2;roscore http://23dabdcb90de:11311/
[1msetting /run_id to b52d9cde-3d7d-11ef-84c4-0242ac110005[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
[1mprocess[rosout-1]: started with pid [242][0m
no previous pose graph
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720479569.264764402]: 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: 316842438.93 
init first imu pose
averge acc 9.443749 -0.647051 -2.458075
init R0 
[0m[ INFO] [1720479590.629678645]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479592.689664181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479594.675794995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479596.670746151]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479598.656400207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479600.628635845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479602.659003846]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479604.630398989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479606.667192129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479608.666108343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479610.641223074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479612.658458816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479614.663688168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479616.674456870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479618.675187974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479620.656223747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479622.669922052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479624.666338387]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479626.672516393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479628.672769563]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479630.631617798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479632.666165477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479634.647919500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479636.663244347]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479638.665981125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479640.635879454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479642.676584390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479644.664745597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479646.675207964]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720479650.634237182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479652.658640421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479654.663238134]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479656.660187935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479658.662466436]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479660.669762886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479662.664796860]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720479668.702163535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479670.639005651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479672.628250388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479674.665116285]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479676.667593260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479678.644602483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479680.631749520]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479682.657679439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479684.656275499]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479686.671122441]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479688.671649917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479690.648159952]: 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] [1720479696.665102048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479698.649437771]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479700.653288401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479702.634394147]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720479706.061120268]: Shutdown request received.[0m
[33m[ WARN] [1720479706.061166734]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720479706.062015705]: Shutdown request received.[0m
[33m[ WARN] [1720479706.062047288]: Reason given for shutdown: [user request][0m
killed
