/SLAM-Hive/slam_hive_results/mapping_results/2890/2098_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720479734.690885748]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720479734.692728183]: init begins[0m
[31m[ERROR] [1720479734.693706835]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1dd45f52-3d7e-11ef-87b6-0242ac110005/roslaunch-fc72c5cc7851-118.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://fc72c5cc7851:44787/[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] [1720479735.799926906]: 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] [1720479735.804465809]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720479735.804690521]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720479735.804712483]: 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] [1720479735.804898579]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720479735.805135184]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://fc72c5cc7851:11311/[0m
]2;roscore http://fc72c5cc7851:11311/
[1msetting /run_id to 1dd45f52-3d7e-11ef-87b6-0242ac110005[0m
[0m[ INFO] [1720479735.846416786]: Connected to master at [localhost:11311][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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720479744.825067398]: 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: 316842614.50 
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] [1720479766.213031173]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479768.208218845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479770.219440605]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479772.224734031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479774.183920124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479776.208782304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479778.214513792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479780.205065973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479782.214032897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479784.215871938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479786.214003332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479788.204199797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479790.214683393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479792.225810816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479794.214367086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479796.197998351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479798.215674171]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479800.213333893]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479802.229876473]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479804.224355382]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479806.215260823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479808.213265622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479810.200820564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479812.213210804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479814.211112727]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479816.212964523]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479818.182718471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479820.195937722]: 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] [1720479826.216724049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479828.213925405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479830.211884471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479832.208509478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479834.216639240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479836.226906415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479838.211446178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479840.184062238]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720479844.208406543]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479846.202192299]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479848.183011270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479850.185858619]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479852.189195339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479854.180133395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479856.181423854]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479858.204421784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479860.212113847]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479862.199311228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479864.220853250]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479866.222141390]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720479870.221751225]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479872.211517449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479874.210356324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479876.182024892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479878.203961899]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720479881.668496173]: Shutdown request received.[0m
[33m[ WARN] [1720479881.668536376]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720479881.669500255]: Shutdown request received.[0m
[33m[ WARN] [1720479881.669525872]: Reason given for shutdown: [user request][0m
killed
