/SLAM-Hive/slam_hive_results/mapping_results/2912/2120_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720482912.406539290]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720482912.408117246]: init begins[0m
[31m[ERROR] [1720482912.409147449]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/83e4c9b0-3d85-11ef-92ee-0242ac110005/roslaunch-d1c54b81c9e2-117.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://d1c54b81c9e2:45271/[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 [154][0m
[0m[ INFO] [1720482913.512996366]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720482913.514050958]: 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] [1720482913.523034005]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720482913.523221415]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720482913.523247496]: ROW: 288 COL: 451 [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] [1720482913.523417984]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720482913.523665151]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://d1c54b81c9e2:11311/[0m
]2;roscore http://d1c54b81c9e2:11311/
[1msetting /run_id to 83e4c9b0-3d85-11ef-92ee-0242ac110005[0m
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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720482922.563854089]: 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: 316844795.45 
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
wait for imu ... 
[0m[ INFO] [1720482933.362457051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482934.371163673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482935.367423729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482936.383118113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482937.360685757]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482938.380053556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482940.352892161]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482941.371237537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482942.373608735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482943.357176444]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482944.375133010]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482945.369209787]: 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!
wait for imu ... 
[0m[ INFO] [1720482948.359388737]: 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] [1720482951.339036245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482952.371651622]: 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] [1720482955.370372169]: 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] [1720482957.366496058]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720482961.360629923]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482962.345982280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482963.372460138]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482964.371172413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482965.360416340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482966.352221301]: 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] [1720482969.361542301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482970.370004908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482971.371671944]: 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] [1720482975.375162934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482976.380827925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482977.349668958]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482978.367382529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482979.365250221]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720482981.365833933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482982.378540969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482983.367664650]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482984.379829988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482985.368550116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482986.368109567]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482987.369791667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482988.367882818]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482989.363110392]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482990.373750877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482991.364051400]: 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] [1720482995.364094459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482996.368582220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482997.362623057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482998.353750866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482999.364316063]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483000.377118952]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483001.349609625]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483002.348141981]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483003.351678493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483004.373163365]: 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!
wait for imu ... 
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720483008.342594795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483009.345699431]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483010.370907352]: 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!
[0m[ INFO] [1720483019.351329827]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483020.371163355]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483021.369025586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483022.371031151]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483023.367442984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483024.370842870]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720483025.911953644]: Shutdown request received.[0m
[33m[ WARN] [1720483025.911999090]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720483025.912977449]: Shutdown request received.[0m
[33m[ WARN] [1720483025.913006043]: Reason given for shutdown: [user request][0m
killed
