/SLAM-Hive/slam_hive_results/mapping_results/2891/2099_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720479907.372852283]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720479907.374214644]: init begins[0m
[31m[ERROR] [1720479907.375169201]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/84c15b70-3d7e-11ef-a162-0242ac110005/roslaunch-1308568a899a-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://1308568a899a:38595/[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] [1720479908.479114655]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720479908.480358034]: 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] [1720479908.485898772]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720479908.486081981]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720479908.486110330]: 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] [1720479908.486289625]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720479908.486534331]: 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://1308568a899a:11311/[0m
]2;roscore http://1308568a899a:11311/
[1msetting /run_id to 84c15b70-3d7e-11ef-a162-0242ac110005[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] [1720479917.531035215]: 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: 316842787.20 
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] [1720479938.906559413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479940.910911105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479942.918626620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479944.924844466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479946.882728157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479948.907850652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479950.901822641]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479952.910866133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479954.910556119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479956.911755692]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479958.912452129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479960.909246037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479962.912684282]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479964.922654737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479966.908369282]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479968.896592693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479970.889724928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479972.908699528]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479974.922972826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479976.920257271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479978.907729362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479980.907482705]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479982.908525220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479984.907702851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479986.912251594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479988.903293689]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479990.885111817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479992.896257802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479994.924891993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479996.919081246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720479998.883641722]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480000.890261936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480002.908634307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480004.907527784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480006.893319672]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480008.920625040]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480010.904747676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480012.896873944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480014.908053019]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480016.918418641]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480018.899091026]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480020.882319187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480022.912042858]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480024.912071791]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480026.902678976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480028.896070032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480030.903774186]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480032.907189588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480034.907043048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480036.917981578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480038.918658852]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480040.908460397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480042.881530523]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480044.905401978]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480046.908801203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480048.906671044]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480050.900225952]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720480054.213862992]: Shutdown request received.[0m
[33m[ WARN] [1720480054.213904187]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720480054.214883235]: Shutdown request received.[0m
[33m[ WARN] [1720480054.214904251]: Reason given for shutdown: [user request][0m
killed
