/SLAM-Hive/slam_hive_results/mapping_results/2911/2119_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720482771.534352555]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720482771.536568995]: init begins[0m
[31m[ERROR] [1720482771.537571721]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/2fed8ea0-3d85-11ef-952f-0242ac110005/roslaunch-c246cd5b81ed-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://c246cd5b81ed:35743/[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] [1720482772.691102908]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720482772.693061429]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://c246cd5b81ed:11311/[0m
]2;roscore http://c246cd5b81ed:11311/
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1msetting /run_id to 2fed8ea0-3d85-11ef-952f-0242ac110005[0m
result path /home/output/vio.csv
[33m[ WARN] [1720482772.700317083]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720482772.700537035]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720482772.700563444]: ROW: 384 COL: 601 [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] [1720482772.700742361]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720482772.701014768]: 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
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] [1720482781.679766019]: 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: 316844654.57 
init first imu pose
averge acc 8.948483 -0.093725 -3.927768
init R0 
  0.402014  0.0218428   0.915373
         0  -0.999715  0.0238554
  0.915633 -0.0095902    -0.4019
[0m[ INFO] [1720482792.499078301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482793.495484873]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482794.502204103]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482795.498746268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482796.501517210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482797.502203727]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482798.492794432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482799.496387872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482800.506265795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482801.494615501]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482802.498823974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482803.501821735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482804.522944322]: 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!
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] [1720482810.491984697]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482811.477916863]: 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] [1720482814.499966969]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720482820.493373592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482821.515246902]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482822.484870642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482823.497640683]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482825.497584460]: 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] [1720482828.493437550]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482829.499326389]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482830.500682330]: 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] [1720482833.486059163]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482834.507932580]: 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] [1720482837.497643358]: 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!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720482840.469997203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482841.505010186]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482842.491711313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482843.506343309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482844.471310186]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482845.500100052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482846.491964180]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482847.497272981]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482848.492605208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482849.503518934]: 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!
unstable features tracking, please slowly move you device!
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] [1720482854.508817084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482855.472091120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482856.500444516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482857.493460452]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482858.499719429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482859.517130181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482860.497680739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482861.499915817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482862.502275272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482863.468275479]: 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] [1720482868.498163267]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482869.492308069]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
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] [1720482879.497219824]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482880.504103233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482881.499428362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482882.485681809]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482883.492643264]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720482885.170665002]: Shutdown request received.[0m
[33m[ WARN] [1720482885.170703662]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720482885.171650844]: Shutdown request received.[0m
[33m[ WARN] [1720482885.171678781]: Reason given for shutdown: [user request][0m
killed
