/SLAM-Hive/slam_hive_results/mapping_results/2898/2106_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720480941.027662012]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720480941.027989019]: init begins[0m
[31m[ERROR] [1720480941.028973652]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ecdcb90a-3d80-11ef-a072-0242ac110005/roslaunch-b13ae83ca83b-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://b13ae83ca83b:37449/[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] [1720480942.138586500]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720480942.141493223]: 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] [1720480942.162525271]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720480942.162839783]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720480942.162893977]: ROW: 480 COL: 752 [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] [1720480942.163297962]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720480942.163747314]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://b13ae83ca83b:11311/[0m
]2;roscore http://b13ae83ca83b:11311/
[1msetting /run_id to ecdcb90a-3d80-11ef-a072-0242ac110005[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_04_difficult.bag  --clock 
[0m[ INFO] [1720480951.168201538]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316842824.06 
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
wait for imu ... 
[0m[ INFO] [1720480953.585298652]: IMU excitation not enouth![0m
[0m[ INFO] [1720480953.620600587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480953.823011620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480954.011344383]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480954.219648144]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720480954.690124176]: gyroscope bias initial calibration -0.00176321   0.0140578   0.0781219[0m
[0m[ INFO] [1720480954.773437827]: Initialization finish![0m
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time: 1403638130.545097, t: -0.355279 0.055419 0.155358 q: -0.053119 0.815274 0.011481 0.576519 
time: 1403638130.745097, t: -0.472623 0.076249 0.185236 q: -0.062916 0.803180 0.001996 0.592402 
time: 1403638130.945097, t: -0.592766 0.079574 0.206999 q: -0.077794 0.794555 -0.007315 0.602144 
time: 1403638131.145097, t: -0.735086 0.090132 0.123443 q: -0.071094 0.783593 -0.012179 0.617073 
time: 1403638131.345097, t: -0.888028 0.099398 0.006792 q: -0.051805 0.802107 0.010577 0.594836 
time: 1403638131.545097, t: -1.021416 0.104500 -0.138201 q: -0.043430 0.803349 0.011213 0.593816 
time: 1403638131.745097, t: -1.193147 0.111654 -0.294770 q: -0.037026 0.806216 0.017348 0.590207 
time: 1403638131.945097, t: -1.381432 0.100260 -0.455294 q: -0.020455 0.807715 0.025329 0.588673 
time: 1403638132.145097, t: -1.621029 0.132420 -0.545358 q: -0.004739 0.816063 0.051620 0.575634 
time: 1403638132.345097, t: -1.850519 0.165604 -0.538023 q: -0.022448 0.803199 0.043394 0.593704 
time: 1403638132.545097, t: -2.137254 0.234539 -0.492809 q: -0.060271 0.784869 0.022250 0.616322 
time: 1403638132.745097, t: -2.429216 0.298740 -0.499087 q: -0.076486 0.781353 0.012519 0.619258 
time: 1403638132.945097, t: -2.750206 0.373816 -0.585136 q: -0.086937 0.770052 0.000093 0.632030 
time: 1403638133.145097, t: -3.073082 0.360605 -0.711767 q: -0.076481 0.775063 0.019915 0.626923 
time: 1403638133.345097, t: -3.380438 0.337826 -0.856912 q: -0.045378 0.781265 0.004328 0.622533 
time: 1403638133.545097, t: -3.752297 0.263787 -1.005997 q: -0.012696 0.787540 -0.025120 0.615620 
time: 1403638133.745097, t: -4.170158 0.192019 -1.146543 q: -0.005596 0.793663 -0.060525 0.605313 
time: 1403638133.945097, t: -4.611068 0.174407 -1.292550 q: 0.022345 0.796129 -0.078740 0.599566 
time: 1403638134.145097, t: -5.030408 0.248508 -1.421567 q: 0.030254 0.799861 -0.070590 0.595251 
time: 1403638134.345097, t: -5.441612 0.379501 -1.536812 q: 0.023427 0.788977 -0.079923 0.608752 
time: 1403638134.545097, t: -5.906209 0.492732 -1.657872 q: 0.005786 0.790575 -0.087330 0.606078 
time: 1403638134.745097, t: -6.422656 0.639175 -1.796372 q: -0.006896 0.795993 -0.085223 0.599237 
time: 1403638134.945097, t: -6.964196 0.792735 -1.906568 q: -0.002984 0.799160 -0.078612 0.595948 
time: 1403638135.145097, t: -7.577762 0.875085 -2.034647 q: 0.000145 0.803421 -0.066150 0.591725 
time: 1403638135.345097, t: -8.182134 0.951696 -2.228465 q: 0.006207 0.804929 -0.062481 0.590040 
time: 1403638135.545097, t: -8.864887 0.976333 -2.421705 q: 0.020808 0.808378 -0.063950 0.584810 
time: 1403638135.745097, t: -9.540799 0.953042 -2.585077 q: 0.029745 0.802568 -0.081881 0.590166 
time: 1403638135.945097, t: -10.356910 0.929716 -2.772790 q: 0.043891 0.810856 -0.079010 0.578225 
time: 1403638136.145097, t: -11.222150 0.921414 -2.920562 q: 0.057594 0.797877 -0.091431 0.593056 
time: 1403638136.345097, t: -12.086936 0.885154 -3.109658 q: 0.066916 0.790038 -0.103212 0.600591 
time: 1403638136.545097, t: -12.931287 0.978538 -3.313159 q: 0.075547 0.794378 -0.112934 0.592032 
time: 1403638136.745097, t: -13.739138 1.100196 -3.475048 q: 0.051313 0.792843 -0.117083 0.595867 
time: 1403638136.945097, t: -14.633462 1.306691 -3.664914 q: 0.006468 0.777782 -0.116767 0.617558 
time: 1403638137.145097, t: -15.513454 1.477360 -3.893637 q: -0.005881 0.777287 -0.105261 0.620251 
time: 1403638137.345097, t: -16.489209 1.717318 -4.198739 q: 0.001674 0.793679 -0.081644 0.602830 
time: 1403638137.545097, t: -17.545397 1.902628 -4.509135 q: 0.023144 0.809069 -0.065374 0.583607 
time: 1403638137.745097, t: -18.603833 2.076308 -4.778446 q: 0.042730 0.811638 -0.063660 0.579107 
time: 1403638137.945097, t: -19.723073 2.229369 -5.039908 q: 0.053985 0.822764 -0.059651 0.562661 
time: 1403638138.145097, t: -20.779008 2.766640 -5.288708 q: 0.062305 0.821508 -0.061202 0.563468 
time: 1403638138.345097, t: -21.992656 2.516847 -5.545900 q: 0.052102 0.811920 -0.062076 0.578115 
time: 1403638138.545097, t: -23.189243 3.135842 -5.756015 q: 0.059205 0.807740 -0.066492 0.582777 
time: 1403638138.745097, t: -24.236558 3.058643 -5.978693 q: 0.054909 0.808649 -0.064760 0.582133 
time: 1403638138.945097, t: -25.695927 3.243324 -6.265660 q: 0.054131 0.807545 -0.063471 0.583876 
time: 1403638139.145097, t: -27.039682 3.460139 -6.528749 q: 0.053536 0.806898 -0.063684 0.584803 
wait for imu ... 
time: 1403638139.345097, t: -28.380748 3.837244 -6.786738 q: 0.055408 0.806461 -0.064973 0.585089 
time: 1403638139.545097, t: -29.808048 4.090568 -7.060733 q: 0.055721 0.805945 -0.064635 0.585807 
time: 1403638139.745097, t: -31.227230 4.349592 -7.335088 q: 0.055905 0.805628 -0.064705 0.586218 
time: 1403638139.945097, t: -32.696569 4.668748 -7.611120 q: 0.056433 0.805245 -0.065069 0.586653 
time: 1403638140.145097, t: -34.178573 4.984123 -7.884765 q: 0.056875 0.804979 -0.065400 0.586939 
time: 1403638140.345097, t: -35.774977 5.326686 -8.184081 q: 0.057259 0.804436 -0.065495 0.587634 
time: 1403638140.545097, t: -37.375567 5.834083 -8.489597 q: 0.058917 0.803903 -0.066272 0.588112 
time: 1403638140.745097, t: -39.060723 6.182188 -8.798804 q: 0.058965 0.803372 -0.066183 0.588843 
time: 1403638140.945097, t: -40.621390 6.663337 -9.067067 q: 0.060534 0.803241 -0.067052 0.588764 
time: 1403638141.145097, t: -42.388624 7.047570 -9.385621 q: 0.060693 0.802681 -0.066952 0.589522 
time: 1403638141.345097, t: -43.577036 7.503098 -9.548433 q: 0.061564 0.803594 -0.067647 0.588107 
time: 1403638141.545097, t: -45.216532 7.919248 -9.822998 q: 0.061825 0.803480 -0.067716 0.588227 
time: 1403638141.745097, t: -47.283622 8.489053 -10.211662 q: 0.062716 0.802488 -0.067898 0.589465 
time: 1403638141.945097, t: -49.363412 8.956649 -10.587743 q: 0.062927 0.801717 -0.067760 0.590507 
time: 1403638142.145097, t: -51.492636 9.441999 -10.972935 q: 0.062908 0.800950 -0.067438 0.591586 
time: 1403638142.345097, t: -53.701825 10.013054 -11.372867 q: 0.063967 0.800107 -0.067919 0.592557 
time: 1403638142.545097, t: -55.100688 10.442271 -11.577298 q: 0.063820 0.800946 -0.067914 0.591439 
time: 1403638142.745097, t: -57.445202 11.131827 -11.992637 q: 0.064555 0.799962 -0.067769 0.592706 
time: 1403638142.945097, t: -59.622443 11.676266 -12.366497 q: 0.064767 0.799537 -0.067584 0.593277 
time: 1403638143.145097, t: -59.337865 11.528858 -12.086618 q: 0.062623 0.803340 -0.066733 0.588447 
time: 1403638143.345097, t: -60.740215 11.889678 -12.248751 q: 0.062442 0.804022 -0.066491 0.587561 
wait for imu ... 
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time: 1403638143.745097, t: -63.770431 12.561484 -12.618192 q: 0.061563 0.805068 -0.066335 0.586238 
time: 1403638143.945097, t: -65.345786 12.931846 -12.813021 q: 0.061250 0.805509 -0.066147 0.585686 
time: 1403638144.145097, t: -67.478887 13.484545 -13.145341 q: 0.061396 0.805228 -0.066105 0.586063 
time: 1403638144.345097, t: -70.024006 14.036858 -13.585058 q: 0.061219 0.804441 -0.065900 0.587183 
time: 1403638144.545097, t: -73.434289 14.736338 -14.216465 q: 0.061392 0.802691 -0.065777 0.589569 
time: 1403638144.745097, t: -77.918717 15.625673 -15.101909 q: 0.061606 0.799828 -0.065280 0.593480 
time: 1403638144.945097, t: -82.228143 16.320599 -15.927363 q: 0.061165 0.797544 -0.064745 0.596649 
time: 1403638145.145097, t: -85.818090 16.923816 -16.565870 q: 0.060663 0.796215 -0.064229 0.598528 
time: 1403638145.345097, t: -89.659520 17.357950 -17.246509 q: 0.059543 0.794729 -0.063370 0.600704 
time: 1403638145.545097, t: -91.676231 14.900421 -17.498956 q: 0.052538 0.796002 -0.061074 0.599909 
time: 1403638145.745097, t: -95.839106 16.112512 -18.097594 q: 0.053649 0.793924 -0.061330 0.602533 
time: 1403638145.945097, t: -98.877129 16.684762 -18.578008 q: 0.053719 0.793441 -0.061301 0.603165 
wait for imu ... 
time: 1403638146.145097, t: -97.674770 16.023191 -18.021547 q: 0.051801 0.797473 -0.061401 0.597983 
time: 1403638146.345097, t: -98.612613 16.235529 -17.990997 q: 0.051649 0.798710 -0.061565 0.596326 
time: 1403638146.545097, t: -100.006643 16.512497 -18.068743 q: 0.051540 0.799643 -0.061726 0.595067 
time: 1403638146.745097, t: -101.480720 16.780311 -18.165732 q: 0.051421 0.800492 -0.061757 0.593931 
time: 1403638146.945097, t: -103.421760 16.957017 -18.372889 q: 0.050894 0.800909 -0.061510 0.593440 
time: 1403638147.145097, t: -106.679874 17.189232 -18.868378 q: 0.049972 0.800545 -0.060925 0.594070 
time: 1403638147.345097, t: -110.850626 17.504165 -19.565070 q: 0.049363 0.799060 -0.060175 0.596192 
time: 1403638147.545097, t: -115.974816 18.318294 -20.475686 q: 0.049433 0.796441 -0.059923 0.599707 
time: 1403638147.745097, t: -121.905947 19.392420 -21.537965 q: 0.049019 0.793305 -0.058283 0.604043 
time: 1403638147.945097, t: -131.718553 22.243380 -23.495376 q: 0.055904 0.773551 -0.062477 0.628165 
time: 1403638148.145097, t: -138.338828 24.453469 -24.747513 q: 0.059742 0.759962 -0.061470 0.644290 
time: 1403638148.345097, t: -142.243707 25.215161 -25.269243 q: 0.057319 0.757087 -0.055476 0.648426 
time: 1403638148.545097, t: -146.223739 25.993585 -25.818312 q: 0.057718 0.763510 -0.049429 0.641309 
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time: 1403638228.745097, t: -9057.037441 77.523519 -1843.152454 q: 0.053199 0.658041 -0.075280 0.747318 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720481054.646324518]: Shutdown request received.[0m
[33m[ WARN] [1720481054.646372663]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720481054.647301733]: Shutdown request received.[0m
[33m[ WARN] [1720481054.647328235]: Reason given for shutdown: [user request][0m
killed
